US8932237B2 - Efficient ultrasound focusing - Google Patents

Efficient ultrasound focusing Download PDF

Info

Publication number
US8932237B2
US8932237B2 US12/769,059 US76905910A US8932237B2 US 8932237 B2 US8932237 B2 US 8932237B2 US 76905910 A US76905910 A US 76905910A US 8932237 B2 US8932237 B2 US 8932237B2
Authority
US
United States
Prior art keywords
sub
ultrasound
transducer elements
focus
transducer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US12/769,059
Other versions
US20110270136A1 (en
Inventor
Shuki Vitek
Yoni Hertzberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Insightec Ltd
Original Assignee
Insightec Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Insightec Ltd filed Critical Insightec Ltd
Priority to US12/769,059 priority Critical patent/US8932237B2/en
Assigned to INSIGHTEC, LTD. reassignment INSIGHTEC, LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HERTZBERG, YONI, VITEK, SHUKI
Priority to CN201180032003.8A priority patent/CN102946945B/en
Priority to EP11743611.3A priority patent/EP2563476B1/en
Priority to PCT/IB2011/001375 priority patent/WO2011135458A2/en
Publication of US20110270136A1 publication Critical patent/US20110270136A1/en
Application granted granted Critical
Publication of US8932237B2 publication Critical patent/US8932237B2/en
Assigned to PERCEPTIVE CREDIT HOLDINGS III, LP reassignment PERCEPTIVE CREDIT HOLDINGS III, LP SECURITY INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: INSIGHTEC LTD., INSIGHTEC, INC.
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00Ultrasound therapy
    • A61N7/02Localised ultrasound hyperthermia
    • A61B2019/505
    • A61B2019/5236
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • A61B2034/105Modelling of the patient, e.g. for ligaments or bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • A61B2090/374NMR or MRI
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00Ultrasound therapy
    • A61N2007/0056Beam shaping elements
    • A61N2007/0065Concave transducers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00Ultrasound therapy
    • A61N2007/0086Beam steering
    • A61N2007/0095Beam steering by modifying an excitation signal

Definitions

  • the present invention relates, generally, to systems and methods for ultrasound focusing.
  • various embodiments are directed to efficient methods of focusing a phased array of ultrasound transducer elements, using both model-based computations and measurements of focus quality to adjust the relative phases of the transducer elements.
  • Focused ultrasound i.e., acoustic waves having a frequency greater than about 20 kilohertz
  • ultrasonic waves may be used to ablate tumors, eliminating the need for the patient to undergo invasive surgery.
  • a piezo-ceramic transducer is placed externally to the patient, but in close proximity to the tissue to be ablated (the “target”).
  • the transducer converts an electronic drive signal into mechanical vibrations, resulting in the emission of acoustic waves (a process hereinafter referred to as “sonication”).
  • the transducer may be shaped so that the waves converge in a focal zone.
  • the transducer may be formed of a plurality of individually driven transducer elements whose phases (and, optionally, amplitudes) can each be controlled independently from one another and, thus, can be set so as to result in constructive interference of the individual acoustic waves in the focal zone.
  • phased-array Such a “phased-array” transducer facilitates steering the focal zone to different locations by adjusting the relative phases between the transducers, and generally provides the higher a focus quality and resolution, the greater the number of transducer elements.
  • Magnetic resonance imaging (MRI) may be utilized to visualize the focus and target in order to guide the ultrasound beam.
  • the relative phases at which the transducer elements need to be driven to result in a focus at the target location depend on the relative location and orientation of the transducer surface and the target, as well as on the dimensions and acoustic material properties (e.g., sound velocities) of the tissue or tissues between them (i.e., the “target tissue”).
  • the relative phases (and, optionally, amplitudes) can be calculated, as described, for example, in U.S. Pat. No. 6,612,988 (filed Dec. 15, 2000), U.S. Pat. No. 6,770,031 (filed Aug. 26, 2002), and U.S. Pat. No. 7,344,509 (filed Apr.
  • treatment is typically preceded by an auto-focusing procedure in which, iteratively, an ultrasound focus is generated at or near the target, the quality of the focus is measured (using, e.g., thermal imaging or acoustic radiation force imaging (ARFI)), and experimental feedback is used to adjust the phases of the transducer elements to achieve sufficient focus quality.
  • an ultrasound focus is generated at or near the target
  • the quality of the focus is measured (using, e.g., thermal imaging or acoustic radiation force imaging (ARFI))
  • ARFI acoustic radiation force imaging
  • the number of sonications in this procedure is typically at least three times the number of individually controlled transducer elements, and even more sonications may be needed to overcome measurement noise.
  • the auto-focusing procedure may thus take a substantial amount of time, which may render it impracticable or, at the least, inconvenient for a patient.
  • ultrasound energy is inevitably deposited into the tissue at and surrounding the target, potentially damaging healthy tissue.
  • an imaging technique that requires only low acoustic intensity (e.g., ARFI)
  • ARFI acoustic intensity
  • the present invention provides, in various embodiments, systems and methods for focusing ultrasound by adjusting the phases and, optionally, amplitudes of a phased array of transducer elements based on a combination of (i) a-priori knowledge about the relative location and/or orientation between the transducer surface and the target, the dimensions and/or acoustic material properties of the target tissue, and/or any quantities derived from these parameters (hereinafter collectively referred to as a “sonication model”), and (ii) experimental feedback about the focus quality.
  • a-priori knowledge about the relative location and/or orientation between the transducer surface and the target, the dimensions and/or acoustic material properties of the target tissue, and/or any quantities derived from these parameters hereinafter collectively referred to as a “sonication model”
  • experimental feedback about the focus quality Using focus measurements to adjust the transducer elements may improve focus quality over purely computational approaches, while employing computations based on a sonication model may reduce the number of
  • transducer elements are grouped into sub-arrays, and each sub-array is treated, for purposes of experimental phase adjustments, as a single element.
  • grouping reduces the number of independently controllable elements and, consequently, the optimization time and energy. While, in general, fewer elements result in lower resolution and, hence, lower focus quality, this undesirable effect may be avoided or minimized by “smart grouping” based on the sonication model (e.g., based on the incidence angle of ultrasound from a sub-array onto a target tissue interface, i.e., an outer surface of the target tissue or an interface between multiple layers of the target tissue). Smart grouping involves keeping the array resolution (i.e., the number of independently controllable elements per unit area) high in regions where finer adjustments may be needed.
  • a model of the target tissue is developed, and uncertainties in the model (e.g., uncertainties about the values of certain geometric or material parameters) are captured in one or more variable model parameters.
  • the model parameters are then varied discretely over ranges that are expected to include the unknown true parameter values, and for each discrete set of parameter values, the phases (and amplitudes) of the transducer elements are computed for a given focus target, the transducers are driven accordingly, and the resulting focus quality is measured.
  • the set of parameter values that yields the best focus is adopted, and may subsequently be used to compute the relative transducer element phases for therapeutic sonications of the target. Often, relatively few sonications—compared with the number required for auto-focusing without a-priori knowledge—will suffice to find an approximation of the model parameter values that results in an acceptable focus quality.
  • a method of focusing a phased array of ultrasound transducer elements into a target tissue involves grouping the transducer elements into sub-arrays based on a sonication model, and determining relative phases of the transducer elements within each sub-array. Further, the method includes driving the transducer elements of the sub-arrays at the respective relative phases to generate sub-foci, determining whether the sub-foci constructively interfere, and, if not, adjusting the phases of the transducer elements to cause constructive interference of the sub-foci.
  • the sonication model may include a geometric parameter indicative of a relative arrangement between the phased array and the target tissue; a target focus location; and/or one or more material parameters and/or geometric parameters of the target tissue, which may be obtained by measurements using, e.g., MRI or computer tomography. Grouping may be based on incidence angles of ultrasound emitted from the transducer elements on a target tissue interface.
  • the relative phases of the transducer elements within a sub-array may be computed based on the sonication model, and/or may be determined experimentally by driving the transducer elements of the sub-array so as to generate a sub-focus, measuring a quality of the sub-focus, and adjusting the relative phases to improve the quality of the sub-focus.
  • Determining whether the sub-foci constructively interfere may involve determining whether the sub-foci are in phase and/or whether they are co-located. If the sub-foci are not in phase, the phases of the transducer elements may be adjusted by applying phase shifts of equal magnitude to the transducer elements within each sub-array, and choosing the phase shifts applied to respective sub-arrays so as to bring the sub-foci in phase. If the sub-foci are not co-located, adjusting the phases of the transducer elements may include applying phase gradients across the transducer elements of each sub-array so as to co-locate the sub-foci.
  • the determination whether the sub-foci constructively interfere includes measuring a quality of a global focus formed by the sub-foci, e.g., by measuring a tissue displacement associated with the global focus, using magnetic-resonance acoustic radiation force imaging (MR-ARFI).
  • MR-ARFI magnetic-resonance acoustic radiation force imaging
  • various embodiments provide a method of focusing a phased array of ultrasound into a target tissue using a model of the target tissue that includes one or more model parameters (e.g., the velocity of sound).
  • the method involves, for each of a plurality of value sets for the model parameter(s), the steps of computing relative phases of the transducer elements based (at least in part) on the model and a target focus location in the target tissue, driving the transducer elements at the computed relative phases so as to generate an ultrasound focus at the target focus location, and measuring the quality of the focus (e.g., by measuring a tissue displacement associated with the focus using ARFI).
  • the set associated with the highest focus quality is selected.
  • the transducer elements may then be driven at relative phases computed based on the model, the selected model parameter value set, and the target focus location.
  • the method may further include the step of obtaining the model of the target tissue, for instance, by measuring a material property and/or a geometric characteristic of the target tissue (using, e.g., MRI or computer tomography).
  • the model includes a plurality of model parameters, and each of the value sets comprises a value for each of the model parameters.
  • the model includes a single model parameter, and each of the value sets comprises a value for the single model parameter.
  • various embodiments are directed to a system for focusing ultrasound into a target tissue using a sonication model.
  • the system includes a phased array of ultrasound transducer elements for generating an ultrasound focus in the target tissue, a system (e.g., an MRI system) for imaging the ultrasound focus, and a control facility in communication with the MRI system and the phased array of transducer elements.
  • the control facility is configured to receive data associated with the sonication model, compute relative phases of the transducer elements based at least in part on the data, drive the transducer elements at the relative phases so as to generate the ultrasound focus, and adjust the relative phases, based at least in part on an image of the ultrasound focus, so as to improve the ultrasound focus.
  • control facility is configured to group the transducer elements into sub-arrays and compute relative phases of the transducer elements within each sub-array. Further, the control facility may be configured to adjust the relative phases so as to cause constructive interference of sub-foci generated by the sub-arrays.
  • the data includes multiple value sets for at least one model parameter of the sonication model.
  • the control facility may be configured to compute relative phases of the transducer elements and drive the transducer elements at the relative phases sequentially for the multiple value sets of the model parameter(s). Further, the control facility may be configured to measure a quality of the focus for each of the multiple value sets and to select, among the multiple value sets, the set associated with the highest focus quality.
  • various embodiments are directed to an ultrasound focusing system for use in connection with an imaging system.
  • the system includes a phased array of ultrasound transducer elements for generating an ultrasound focus in the target tissue; and a control facility configured to (i) receive data associated with a sonication model, (ii) based at least in part on the data, compute relative phases of the transducer elements, (iii) drive the transducer elements at the relative phases so as to generate the ultrasound focus, and (iv) based at least in part on an image of the ultrasound focus provided by the imaging system, adjust the relative phases so as to improve the ultrasound focus.
  • the imaging system may be a magnetic resonance imaging system.
  • FIG. 1 is a schematic drawing illustrating a magnetic-resonance-guided focused ultrasound system (MRgFUS) in accordance with various embodiments;
  • MgFUS magnetic-resonance-guided focused ultrasound system
  • FIGS. 2A-2C illustrate several magnetic-resonance ARFI sequences in accordance with various embodiments
  • FIG. 3A is an image of material displacements in an ultrasound focus region in accordance with some embodiments.
  • FIG. 3B is a graph illustrating material displacement in the focus center as a function of the phase of an individual transducer element, as it may be used in calibrations methods in accordance with various embodiments.
  • FIG. 4 is a schematic drawing of a transducer arrangement for brain tumor treatment, illustrating smart grouping of transducer elements in accordance with one embodiment
  • FIG. 5 is an MR image of a female breast, illustrating tissue properties relevant to focusing ultrasound for breast cancer treatment in accordance with one embodiment
  • FIG. 6A is a flow chart illustrating an ultrasound focusing method involving smart grouping of transducer element in accordance with one embodiment
  • FIG. 6B is a flow chart illustrating an ultrasound focusing method involving experimentally determining parameter values of a target tissue model in accordance with one embodiment.
  • FIG. 1 illustrates schematically an exemplary MRgFUS 100 in accordance with various embodiments of the invention.
  • the system includes an ultrasound transducer 102 , which is disposed near the torso 104 of a patient and directed towards a target 106 in a region of interest (“ROI”) inside the patient.
  • the transducer 102 may comprise a one- or two-dimensional array (i.e., a row or a matrix) of individually controllable transducer elements 108 .
  • the transducer elements 108 may be arranged in a non-coordinated fashion, i.e., they need not be spaced regularly or arranged in a regular pattern.
  • the transducer may have a curved (e.g., spherical or parabolic) shape, as illustrated, or may include one or more planar or otherwise shaped sections. Its dimensions may vary, depending on the application, between millimeters and tens of centimeters.
  • the transducer elements 108 may be piezoelectric ceramic elements. Piezo-composite materials, or generally any materials capable of converting electrical energy to acoustic energy, may also be used. To damp the mechanical coupling between the elements 108 , they may be mounted on the housing using silicone rubber or any other suitable damping material.
  • the transducer elements 108 are separately controllable, i.e., they are each capable of emitting ultrasound waves at amplitudes and/or phases that are independent of the amplitudes and/or phases of the other transducers.
  • a control facility 110 in communication with the array serves to drive the transducer elements 108 .
  • the control facility 110 may contain n control circuits, each comprising an amplifier and a phase delay circuit and driving one of the transducer elements.
  • the control facility 110 may split a radio frequency (RF) input signal, typically in the range from 0.1 MHz to 4 MHz, to provide n channels for the n control circuits.
  • RF radio frequency
  • the control facility may be configured to drive the individual transducer elements 108 at the same frequency, but at different phases and different amplitudes so that they collectively produce a focused ultrasound beam.
  • the control facility 110 may also include additional circuitry and switches that allow subsets of the transducer elements to be grouped into sub-arrays, and the elements within one sub-array to be driven at the same amplitude and phase.
  • the control facility 110 desirably provides computational functionality, which may be implemented in software, hardware, firmware, hardwiring, or any combination thereof, to compute the required phases and amplitudes for a desired focus location.
  • the control facility 110 may receive data indicative of the desired focus location (i.e., the target) relative to the ultrasound transducer, and account for the respective distances between each transducer element and the target, and the associated travel times of the acoustic waves that originate at the various transducer elements, in computing the phases.
  • the phase computation may be based on a model of the target tissue that contains information about the thicknesses and sound velocities of the various tissue layers that form the target tissue.
  • control facility may include several separable apparatus, such as a frequency generator, a beamformer containing the amplifier and phase delay circuitry, and a computer (e.g., a general-purpose computer) performing the computations and communicating the phases and amplitudes for the individual transducer elements 108 to the beamformer(s).
  • a frequency generator e.g., a frequency generator
  • a beamformer e.g., a beamformer containing the amplifier and phase delay circuitry
  • a computer e.g., a general-purpose computer
  • the MRgFUS system 100 further includes an MRI apparatus in communication with the control facility 110 .
  • the apparatus may include a cylindrical electromagnet 114 , which generates a static magnetic field within a bore thereof.
  • the patient may be placed inside the bore on a movable support table, and positioned such that an imaging region encompassing the ROI (e.g., a particular organ) falls within a region where the magnetic field is substantially uniform.
  • the magnetic field strength within the uniform region is typically between about 1.5 and about 3.0 Tesla.
  • the magnetic field causes hydrogen nuclei spins to align and precess about the general direction of the magnetic field.
  • An RF transmitter coil 116 surrounding the imaging region emits RF pulses into the imaging region, causing some of the aligned spins to oscillate between a temporary high-energy non-aligned state and the aligned state.
  • This oscillation induces RF response signals, called the magnetic-resonance (MR) echo or MR response signals, in a receiver coil, which may, but need not, be the transmitter coil 116 .
  • the MR response signals are amplified, conditioned, and digitized into raw data using an image processing system (which may be implemented, e.g., in control facility 110 ), and further transformed into arrays of image data by methods known to those of ordinary skill in the art.
  • the target 106 e.g., a tumor
  • the ultrasound transducer 102 is then driven so as to focus ultrasound into (or near) the treatment region.
  • the focus may be visualized using one of a number of MR-based imaging techniques, such as, e.g., thermal MRI or MR-ARFI.
  • MR-ARFI generally requires lower ultrasound energies during alignment and calibration procedures than other methods, and the ultrasound intensity preceding the actual treatment should be minimized to avoid damage to tissue outside the target, MR-ARFI is typically preferred.
  • a transducer is driven so as to focus an ultrasound wave pulse into the body at or near the target. The ultrasound wave exerts acoustic radiation pressure onto the material along its path.
  • the ultrasound pressure creates a displacement field that directly reflects the acoustic field.
  • the displacement field may be visualized by applying transient-motion or displacement-sensitizing magnetic field gradients to the imaging region by gradient coils, which are part of standard MRI systems and are typically located near the cylindrical electromagnet 114 .
  • gradient coils which are part of standard MRI systems and are typically located near the cylindrical electromagnet 114 .
  • the gradient coils and transducer may be configured such that the ultrasound pulse pushes material near the focus towards regions of the magnetic field with higher field strengths.
  • the phase of the MR response signal changes proportionally, thereby encoding in the signal the displacement caused by the ultrasound radiation pressure.
  • FIGS. 2A-2C illustrate five exemplary MR-ARFI sequences that may be used in embodiments of the invention. These sequence diagrams illustrate the order in which the displacement-encoding magnetic field gradients (thin solid lines), ultrasound pulses (dotted lines), and RF pulses (thick solid lines) appear in time. Three different field gradient sets are shown: two single lobes (a), repeated bipolars (b), and inverted bipolars (c). For gradient set (a), ultrasound may be applied during either the first or the second lobe.
  • ultrasound may be applied during the first or the second halves of the bipolars.
  • MR-ARFI sequences utilize magnetic field gradients that are synchronized with the ultrasound pulses.
  • a sequence like the repeated bipolar sequence (b) shown in FIG. 2B may be used.
  • the imaging sequence may be programmed into the control facility 110 .
  • the control facility 110 may then send trigger signals to the ultrasound transducer and the MRI hardware to ensure correct timing between the signals.
  • FIG. 3A An example of an MR-ARFI image of an ultrasound focus region is shown in FIG. 3A .
  • the material displacement with respect to an equilibrium position varies between about ⁇ 1 ⁇ m and 5 ⁇ m.
  • the stronger the acoustic field intensity the greater will be the maximum displacement at the center of the focus.
  • the acoustic field intensity is maximized when the individually controlled portions of the transducer (i.e., the elements within a transducer segments and/or the various segments) emit acoustic waves that are all in phase at the focus position. If a transducer element is out of phase with respect to the others, the focus intensity in the center decreases.
  • the correct phase of the last element can be determined by tuning the phase over a full cycle (e.g., between ⁇ and + ⁇ ), measuring for each phase the displacement in the focus center, and then setting the phase to the value corresponding to the maximum displacement.
  • FIG. 3B depicts the results of such an adjustment procedure.
  • the material displacement over the full phase cycle of one element varies between about 4.85 ⁇ m and about 5.4 ⁇ m.
  • the maximum displacement occurs at about 0.12 rad. Consequently, the focus intensity and quality can be improved by introducing a phase shift of 0.12 rad for the tested transducer element.
  • MR-ARFI may be used to “auto-focus” an ultrasound beam (i.e., to iteratively improve the focus quality of a pre-focused beam based on experimental feedback) in advance of the therapeutic application of ultrasound.
  • a transducer for such an application is usually large; it may surround a wide area of the skull and comprise a large number of elements (e.g., 1000).
  • the transducer is typically placed in a stable position relative to the patient's head, and the transducer elements are then activated at relative phases based on the sonication geometry (which generally includes the relative position and orientation of transducer and the target tissue, as well as the target location).
  • phase corrections may be applied to the transducer elements to compensate for tissue aberrations, which are mostly caused by the intervening skull tissue and which may vary significantly with location.
  • the phase corrections may be computed based on skull-imaging data obtained, for example, through computer tomography or MRI, which provide estimates of the local skull bone thickness and density.
  • skull-imaging data obtained, for example, through computer tomography or MRI, which provide estimates of the local skull bone thickness and density.
  • MRI computer tomography or MRI
  • Such computational correction for skull-based aberrations results in a noticeable, yet insufficient improvement of the focus quality.
  • the focus may be optimized with an auto-focusing procedure, in which low-energy ultrasound is focused at (or near) the target, and a quantity correlated to the focus quality (e.g., the peak displacement caused by radiation force) is measured.
  • Auto-focusing typically involves a systematic series of sonications for various transducer phasing combinations. Without further information, it may take about 3000 or more sonications to optimize the focus of an array with 1000 elements.
  • a-priori information capable of reducing the required number of sonications may be available.
  • Such a-priori information may include a model of the target tissue, which may provide detailed information about the components of the target tissue (such as various tissue layers), their relative arrangement, and the associated material types, densities, and structures, and/or various material parameter values.
  • a target tissue model may be developed based on images of the target tissue, and/or generally known or experimentally determined material parameters and physical properties of certain tissue types and/or interfaces between tissue layers (such as, e.g., coefficients of reflection at an interface between bone and soft tissue).
  • a-priori information may include relevant parameters of the sonication geometry, i.e., the location and orientation of the transducer with respect to the target tissue.
  • the sonication geometry may be known from mechanical constraints (such as, e.g., a rigid transducer structure that is placed in contact with the target tissue), or measured using fiducials or sensors embedded in the transducer, such as MR tracking coils or position sensors (e.g., tilt indicators, ultrasound, or optical encoders).
  • the relative phases between transducer elements that are required for a particular target are often predictable in the vicinity of a particular location at the transducer.
  • the relative phases between groups of transducers that are further apart from one another may require adjustment.
  • FIG. 4 illustrates schematically an exemplary sonication geometry for ultrasound focusing into the brain.
  • a curved transducer 400 is placed above a patient's skull 402 and driven so as to focus ultrasound from many directions onto a target 404 .
  • the incidence angle of ultrasound onto the skull varies greatly, between 0° (perpendicular incidence) and about 40°.
  • the incidence angle has been found to be a major determining factor for the reliability of phase corrections computed with a sonication model derived from computer tomography or MRI data.
  • the phase corrections are usually highly reliable.
  • experimental adjustment of phases is desirable.
  • one approach to combining a-priori knowledge with experimental feedback involves segmenting the transducer array (or, in other words, grouping the transducer elements) into sub-arrays according to incidence angle.
  • Sub-arrays associated with incidence angles that do not allow for reliable prediction may consist of only few or, in the extreme case, individual transducer elements, whereas sub-arrays associated with low (e.g., ⁇ 15° or high (e.g., >35° incidence angles typically include many elements—and generally the higher the degree of predictability, the more elements may be combined in a sub-array.
  • the smart-grouping approach outlined above may be modified depending on the particular application.
  • the critical range of incidence angles may differ from the one used in the above example.
  • the grouping of transducer elements need not be based on incidence angles at all, but may, generally, be based on other parameters of the sonication model that affect the reliability of computationally determined transducer element phases.
  • the grouping may be based on the predominant type of tissue that an acoustic wave traverses to reach the focus location. Tissue type is relevant, for example, in the treatment of breast cancer, as illustrated in FIG. 5 .
  • the figure shows an MRI image of the breast 500 of a woman in prone position, which is to be treated from below as indicated by the arrows 502 .
  • a set of many MRI images would be needed for three-dimensional information.
  • the ultrasound beam which originates from a transducer surface 504 , generally passes through both fatty and non-fatty tissues, which have different sound velocities. These variations in velocity may cause aberrations that disturb the focus.
  • the aberrations may be reduced by calculating time delays for each transducer element from the MRI image(s), and compensating for the time delays with corresponding phase shifts.
  • the transducer may be partitioned into sub-arrays whose acoustic waves travel through mostly fatty or mostly non-fatty tissue, respectively.
  • FIG. 6A illustrates, in a flow chart, a method of focusing a transducer array using smart grouping.
  • each sub-array may be driven so as to create a discrete sub-focus at or near the target, such as, e.g., target 404 in FIG. 4 (step 602 ).
  • the relative phases (and amplitudes) of the elements within a sub-array may be computed based on the sonication model (i.e., information about the local geometry and tissue properties).
  • the sub-foci of one or more sub-arrays are further improved using auto-focusing with focus quality feedback.
  • the transducer elements may be grouped into a sub-array, their relative phases adjusted using, e.g., MR-ARFI, and the sub-array subsequently treated as only one element.
  • the quality of the global focus which is the superposition of the sub-foci, may be measured (step 604 ), e.g., using MR-ARFI.
  • An optimal global focus is achieved when the sub-foci constructively interfere, i.e., when they are co-located and in phase.
  • adjusting the overall phase of each sub-array will suffice to achieve constructive interference because creating the sub-foci at the target location will already guarantee their geometric overlap.
  • phase shifts may be applied to the sub-arrays (step 608 ).
  • the transducer may be employed in treating the target (step 610 ).
  • a different approach to using information of the target tissue and supplementing it with experimental feedback on the focus quality involves modeling the target tissue with variable parameters.
  • a target-tissue model may account for the fact that some parameters are better known than others.
  • the MR image shown in FIG. 5 provides good information about the thickness of the various tissues, such as water, fatty tissue, and non-fatty tissue, along the acoustic rays originating at different transducer locations.
  • the sound velocity of water is well-known, the sound velocities of fatty and non-fatty tissues are only known within comparatively large intervals of uncertainty, and generally vary between patients.
  • the time delays for the different acoustic rays are also uncertain.
  • the degree of uncertainty may, however, be reduced indirectly by computing the relative phases for different values of the sound velocities within the known ranges, and comparing the quality of the resulting foci (again, using MR-ARFI or another technique to measure focus parameters indicative of the quality).
  • the sound velocity values that result in the best focus (among the ones measured and compared) may then be assumed to be good approximations of the true sound velocities.
  • focus quality feedback may be used to supplement an incomplete target tissue model with N unknown parameters.
  • the interval of uncertainty may be sampled with k i values.
  • FIG. 6B illustrates a method of using a target tissue model in combination with experimental feedback to improve the quality of an ultrasound focus.
  • the first step 650 providing the model—may be accomplished, for example, by imaging the target tissue with the MRI apparatus to determine the thicknesses and locations of various tissue layers, and supplying this information to the control facility. Then, model parameters that are not known a priori are assigned arbitrary values within ranges in which the true values are expected to lie (step 652 ), the relative phases are adjusted based on the model and the selected parameter values (step 654 ), and the transducer is focused (step 656 ) and the focus quality measured (step 656 ). These steps are repeated for multiple value sets of the parameters.
  • the transducer may be driven in accordance with the model to sonicate and thereby treat the target (step 662 ).

Abstract

Ultrasound focusing may be improved by combining knowledge of the target tissue and/or focusing arrangement with focus measurements.

Description

FIELD OF THE INVENTION
The present invention relates, generally, to systems and methods for ultrasound focusing. In particular, various embodiments are directed to efficient methods of focusing a phased array of ultrasound transducer elements, using both model-based computations and measurements of focus quality to adjust the relative phases of the transducer elements.
BACKGROUND
Focused ultrasound (i.e., acoustic waves having a frequency greater than about 20 kilohertz) can be used to image or therapeutically treat internal body tissues within a patient. For example, ultrasonic waves may be used to ablate tumors, eliminating the need for the patient to undergo invasive surgery. For this purpose, a piezo-ceramic transducer is placed externally to the patient, but in close proximity to the tissue to be ablated (the “target”). The transducer converts an electronic drive signal into mechanical vibrations, resulting in the emission of acoustic waves (a process hereinafter referred to as “sonication”). The transducer may be shaped so that the waves converge in a focal zone. Alternatively or additionally, the transducer may be formed of a plurality of individually driven transducer elements whose phases (and, optionally, amplitudes) can each be controlled independently from one another and, thus, can be set so as to result in constructive interference of the individual acoustic waves in the focal zone. Such a “phased-array” transducer facilitates steering the focal zone to different locations by adjusting the relative phases between the transducers, and generally provides the higher a focus quality and resolution, the greater the number of transducer elements. Magnetic resonance imaging (MRI) may be utilized to visualize the focus and target in order to guide the ultrasound beam.
The relative phases at which the transducer elements need to be driven to result in a focus at the target location depend on the relative location and orientation of the transducer surface and the target, as well as on the dimensions and acoustic material properties (e.g., sound velocities) of the tissue or tissues between them (i.e., the “target tissue”). Thus, to the extent the geometry and acoustic material properties are known, the relative phases (and, optionally, amplitudes) can be calculated, as described, for example, in U.S. Pat. No. 6,612,988 (filed Dec. 15, 2000), U.S. Pat. No. 6,770,031 (filed Aug. 26, 2002), and U.S. Pat. No. 7,344,509 (filed Apr. 9, 2004), as well as U.S. patent application Ser. No. 12/425,698 (filed on Apr. 17, 2009), the entire disclosures of which are hereby incorporated by reference. In practice, however, knowledge of these parameters is often too incomplete or imprecise to enable high-quality focusing based on computations of the relative phases alone. For example, when ultrasound is focused into the brain to treat a tumor, the skull in the acoustic path may cause aberrations that are not readily ascertainable. In such situations, treatment is typically preceded by an auto-focusing procedure in which, iteratively, an ultrasound focus is generated at or near the target, the quality of the focus is measured (using, e.g., thermal imaging or acoustic radiation force imaging (ARFI)), and experimental feedback is used to adjust the phases of the transducer elements to achieve sufficient focus quality.
The number of sonications in this procedure is typically at least three times the number of individually controlled transducer elements, and even more sonications may be needed to overcome measurement noise. The auto-focusing procedure may thus take a substantial amount of time, which may render it impracticable or, at the least, inconvenient for a patient. Further, during the auto-focusing sonications, ultrasound energy is inevitably deposited into the tissue at and surrounding the target, potentially damaging healthy tissue. While the effect of pre-therapeutic sonications may be minimized by employing an imaging technique that requires only low acoustic intensity (e.g., ARFI), it is generally desirable to limit the number of sonications prior to treatment. Accordingly, there is a need for more efficient ways of focusing a phased array of transducer element to create a high-quality ultrasound focus.
SUMMARY
The present invention provides, in various embodiments, systems and methods for focusing ultrasound by adjusting the phases and, optionally, amplitudes of a phased array of transducer elements based on a combination of (i) a-priori knowledge about the relative location and/or orientation between the transducer surface and the target, the dimensions and/or acoustic material properties of the target tissue, and/or any quantities derived from these parameters (hereinafter collectively referred to as a “sonication model”), and (ii) experimental feedback about the focus quality. Using focus measurements to adjust the transducer elements may improve focus quality over purely computational approaches, while employing computations based on a sonication model may reduce the number of sonications (and, thus, the time and energy needed to achieve a given focus quality).
In some embodiments, transducer elements are grouped into sub-arrays, and each sub-array is treated, for purposes of experimental phase adjustments, as a single element. Such grouping reduces the number of independently controllable elements and, consequently, the optimization time and energy. While, in general, fewer elements result in lower resolution and, hence, lower focus quality, this undesirable effect may be avoided or minimized by “smart grouping” based on the sonication model (e.g., based on the incidence angle of ultrasound from a sub-array onto a target tissue interface, i.e., an outer surface of the target tissue or an interface between multiple layers of the target tissue). Smart grouping involves keeping the array resolution (i.e., the number of independently controllable elements per unit area) high in regions where finer adjustments may be needed.
In some embodiments, a model of the target tissue is developed, and uncertainties in the model (e.g., uncertainties about the values of certain geometric or material parameters) are captured in one or more variable model parameters. The model parameters are then varied discretely over ranges that are expected to include the unknown true parameter values, and for each discrete set of parameter values, the phases (and amplitudes) of the transducer elements are computed for a given focus target, the transducers are driven accordingly, and the resulting focus quality is measured. The set of parameter values that yields the best focus is adopted, and may subsequently be used to compute the relative transducer element phases for therapeutic sonications of the target. Often, relatively few sonications—compared with the number required for auto-focusing without a-priori knowledge—will suffice to find an approximation of the model parameter values that results in an acceptable focus quality.
In a first aspect, a method of focusing a phased array of ultrasound transducer elements into a target tissue, in accordance with various embodiments, involves grouping the transducer elements into sub-arrays based on a sonication model, and determining relative phases of the transducer elements within each sub-array. Further, the method includes driving the transducer elements of the sub-arrays at the respective relative phases to generate sub-foci, determining whether the sub-foci constructively interfere, and, if not, adjusting the phases of the transducer elements to cause constructive interference of the sub-foci.
The sonication model may include a geometric parameter indicative of a relative arrangement between the phased array and the target tissue; a target focus location; and/or one or more material parameters and/or geometric parameters of the target tissue, which may be obtained by measurements using, e.g., MRI or computer tomography. Grouping may be based on incidence angles of ultrasound emitted from the transducer elements on a target tissue interface. The relative phases of the transducer elements within a sub-array may be computed based on the sonication model, and/or may be determined experimentally by driving the transducer elements of the sub-array so as to generate a sub-focus, measuring a quality of the sub-focus, and adjusting the relative phases to improve the quality of the sub-focus.
Determining whether the sub-foci constructively interfere may involve determining whether the sub-foci are in phase and/or whether they are co-located. If the sub-foci are not in phase, the phases of the transducer elements may be adjusted by applying phase shifts of equal magnitude to the transducer elements within each sub-array, and choosing the phase shifts applied to respective sub-arrays so as to bring the sub-foci in phase. If the sub-foci are not co-located, adjusting the phases of the transducer elements may include applying phase gradients across the transducer elements of each sub-array so as to co-locate the sub-foci. In some embodiments, the determination whether the sub-foci constructively interfere includes measuring a quality of a global focus formed by the sub-foci, e.g., by measuring a tissue displacement associated with the global focus, using magnetic-resonance acoustic radiation force imaging (MR-ARFI).
In a second aspect, various embodiments provide a method of focusing a phased array of ultrasound into a target tissue using a model of the target tissue that includes one or more model parameters (e.g., the velocity of sound). The method involves, for each of a plurality of value sets for the model parameter(s), the steps of computing relative phases of the transducer elements based (at least in part) on the model and a target focus location in the target tissue, driving the transducer elements at the computed relative phases so as to generate an ultrasound focus at the target focus location, and measuring the quality of the focus (e.g., by measuring a tissue displacement associated with the focus using ARFI). Among the plurality of value sets, the set associated with the highest focus quality is selected. The transducer elements may then be driven at relative phases computed based on the model, the selected model parameter value set, and the target focus location.
The method may further include the step of obtaining the model of the target tissue, for instance, by measuring a material property and/or a geometric characteristic of the target tissue (using, e.g., MRI or computer tomography). In some embodiments, the model includes a plurality of model parameters, and each of the value sets comprises a value for each of the model parameters. In other embodiments, the model includes a single model parameter, and each of the value sets comprises a value for the single model parameter.
In a third aspect, various embodiments are directed to a system for focusing ultrasound into a target tissue using a sonication model. The system includes a phased array of ultrasound transducer elements for generating an ultrasound focus in the target tissue, a system (e.g., an MRI system) for imaging the ultrasound focus, and a control facility in communication with the MRI system and the phased array of transducer elements. The control facility is configured to receive data associated with the sonication model, compute relative phases of the transducer elements based at least in part on the data, drive the transducer elements at the relative phases so as to generate the ultrasound focus, and adjust the relative phases, based at least in part on an image of the ultrasound focus, so as to improve the ultrasound focus.
In some embodiments, the control facility is configured to group the transducer elements into sub-arrays and compute relative phases of the transducer elements within each sub-array. Further, the control facility may be configured to adjust the relative phases so as to cause constructive interference of sub-foci generated by the sub-arrays.
In some embodiments, the data includes multiple value sets for at least one model parameter of the sonication model. The control facility may be configured to compute relative phases of the transducer elements and drive the transducer elements at the relative phases sequentially for the multiple value sets of the model parameter(s). Further, the control facility may be configured to measure a quality of the focus for each of the multiple value sets and to select, among the multiple value sets, the set associated with the highest focus quality.
In a third aspect, various embodiments are directed to an ultrasound focusing system for use in connection with an imaging system. The system includes a phased array of ultrasound transducer elements for generating an ultrasound focus in the target tissue; and a control facility configured to (i) receive data associated with a sonication model, (ii) based at least in part on the data, compute relative phases of the transducer elements, (iii) drive the transducer elements at the relative phases so as to generate the ultrasound focus, and (iv) based at least in part on an image of the ultrasound focus provided by the imaging system, adjust the relative phases so as to improve the ultrasound focus. The imaging system may be a magnetic resonance imaging system.
BRIEF DESCRIPTION OF THE DRAWINGS
The foregoing will be more readily understood from the following detailed description of the invention in conjunction with the drawings, wherein:
FIG. 1 is a schematic drawing illustrating a magnetic-resonance-guided focused ultrasound system (MRgFUS) in accordance with various embodiments;
FIGS. 2A-2C illustrate several magnetic-resonance ARFI sequences in accordance with various embodiments;
FIG. 3A is an image of material displacements in an ultrasound focus region in accordance with some embodiments;
FIG. 3B is a graph illustrating material displacement in the focus center as a function of the phase of an individual transducer element, as it may be used in calibrations methods in accordance with various embodiments; and
FIG. 4 is a schematic drawing of a transducer arrangement for brain tumor treatment, illustrating smart grouping of transducer elements in accordance with one embodiment;
FIG. 5 is an MR image of a female breast, illustrating tissue properties relevant to focusing ultrasound for breast cancer treatment in accordance with one embodiment;
FIG. 6A is a flow chart illustrating an ultrasound focusing method involving smart grouping of transducer element in accordance with one embodiment; and
FIG. 6B is a flow chart illustrating an ultrasound focusing method involving experimentally determining parameter values of a target tissue model in accordance with one embodiment.
DETAILED DESCRIPTION
FIG. 1 illustrates schematically an exemplary MRgFUS 100 in accordance with various embodiments of the invention. The system includes an ultrasound transducer 102, which is disposed near the torso 104 of a patient and directed towards a target 106 in a region of interest (“ROI”) inside the patient. The transducer 102 may comprise a one- or two-dimensional array (i.e., a row or a matrix) of individually controllable transducer elements 108. In other embodiments, the transducer elements 108 may be arranged in a non-coordinated fashion, i.e., they need not be spaced regularly or arranged in a regular pattern. The transducer may have a curved (e.g., spherical or parabolic) shape, as illustrated, or may include one or more planar or otherwise shaped sections. Its dimensions may vary, depending on the application, between millimeters and tens of centimeters. The transducer elements 108 may be piezoelectric ceramic elements. Piezo-composite materials, or generally any materials capable of converting electrical energy to acoustic energy, may also be used. To damp the mechanical coupling between the elements 108, they may be mounted on the housing using silicone rubber or any other suitable damping material.
The transducer elements 108 are separately controllable, i.e., they are each capable of emitting ultrasound waves at amplitudes and/or phases that are independent of the amplitudes and/or phases of the other transducers. A control facility 110 in communication with the array serves to drive the transducer elements 108. For n transducer elements 108, the control facility 110 may contain n control circuits, each comprising an amplifier and a phase delay circuit and driving one of the transducer elements. The control facility 110 may split a radio frequency (RF) input signal, typically in the range from 0.1 MHz to 4 MHz, to provide n channels for the n control circuits. The control facility may be configured to drive the individual transducer elements 108 at the same frequency, but at different phases and different amplitudes so that they collectively produce a focused ultrasound beam. The control facility 110 may also include additional circuitry and switches that allow subsets of the transducer elements to be grouped into sub-arrays, and the elements within one sub-array to be driven at the same amplitude and phase.
The control facility 110 desirably provides computational functionality, which may be implemented in software, hardware, firmware, hardwiring, or any combination thereof, to compute the required phases and amplitudes for a desired focus location. For example, the control facility 110 may receive data indicative of the desired focus location (i.e., the target) relative to the ultrasound transducer, and account for the respective distances between each transducer element and the target, and the associated travel times of the acoustic waves that originate at the various transducer elements, in computing the phases. If the sum of the transducer element phase and the phase acquired between the transducer element and the target (i.e., the product of the frequency and the travel time of the wave, modulo 2π) is the same for all elements, the waves from the different transducer elements constructively interfere at the target. Since the travel time of a wave depends on the velocity of sound between the transducer element and the target, which is generally different for different tissues, the phase computation may be based on a model of the target tissue that contains information about the thicknesses and sound velocities of the various tissue layers that form the target tissue.
In general, the control facility may include several separable apparatus, such as a frequency generator, a beamformer containing the amplifier and phase delay circuitry, and a computer (e.g., a general-purpose computer) performing the computations and communicating the phases and amplitudes for the individual transducer elements 108 to the beamformer(s). Such systems are readily available or can be implemented without undue experimentation.
The MRgFUS system 100 further includes an MRI apparatus in communication with the control facility 110. The apparatus may include a cylindrical electromagnet 114, which generates a static magnetic field within a bore thereof. During medical procedures, the patient may be placed inside the bore on a movable support table, and positioned such that an imaging region encompassing the ROI (e.g., a particular organ) falls within a region where the magnetic field is substantially uniform. The magnetic field strength within the uniform region is typically between about 1.5 and about 3.0 Tesla. The magnetic field causes hydrogen nuclei spins to align and precess about the general direction of the magnetic field. An RF transmitter coil 116 surrounding the imaging region emits RF pulses into the imaging region, causing some of the aligned spins to oscillate between a temporary high-energy non-aligned state and the aligned state. This oscillation induces RF response signals, called the magnetic-resonance (MR) echo or MR response signals, in a receiver coil, which may, but need not, be the transmitter coil 116. The MR response signals are amplified, conditioned, and digitized into raw data using an image processing system (which may be implemented, e.g., in control facility 110), and further transformed into arrays of image data by methods known to those of ordinary skill in the art. Based on the image data, the target 106 (e.g., a tumor) is identified. The ultrasound transducer 102 is then driven so as to focus ultrasound into (or near) the treatment region.
To confirm the location and measure the quality of the focus, the focus may be visualized using one of a number of MR-based imaging techniques, such as, e.g., thermal MRI or MR-ARFI. Because MR-ARFI generally requires lower ultrasound energies during alignment and calibration procedures than other methods, and the ultrasound intensity preceding the actual treatment should be minimized to avoid damage to tissue outside the target, MR-ARFI is typically preferred. In MR-ARFI, a transducer is driven so as to focus an ultrasound wave pulse into the body at or near the target. The ultrasound wave exerts acoustic radiation pressure onto the material along its path. At the focus, where the waves converge, this pressure is highest, resulting in a temporary local displacement of the material in the longitudinal direction and/or in shear waves that propagate radially away from the focus. Thus, the ultrasound pressure creates a displacement field that directly reflects the acoustic field. The displacement field may be visualized by applying transient-motion or displacement-sensitizing magnetic field gradients to the imaging region by gradient coils, which are part of standard MRI systems and are typically located near the cylindrical electromagnet 114. When the ultrasound pulse is applied in the presence of such gradients, the resulting displacement is directly encoded into the phase of the MR response signal. For example, the gradient coils and transducer may be configured such that the ultrasound pulse pushes material near the focus towards regions of the magnetic field with higher field strengths. In response to the resulting change in the magnetic field, the phase of the MR response signal changes proportionally, thereby encoding in the signal the displacement caused by the ultrasound radiation pressure.
To achieve high image contrast, the ultrasound pulse, encoding gradients, and RF pulse are precisely timed with respect to each other according to a suitable displacement-encoding sequence. FIGS. 2A-2C illustrate five exemplary MR-ARFI sequences that may be used in embodiments of the invention. These sequence diagrams illustrate the order in which the displacement-encoding magnetic field gradients (thin solid lines), ultrasound pulses (dotted lines), and RF pulses (thick solid lines) appear in time. Three different field gradient sets are shown: two single lobes (a), repeated bipolars (b), and inverted bipolars (c). For gradient set (a), ultrasound may be applied during either the first or the second lobe. Similarly, for gradient set (c), ultrasound may be applied during the first or the second halves of the bipolars. In general, MR-ARFI sequences utilize magnetic field gradients that are synchronized with the ultrasound pulses. In preferred embodiments, a sequence like the repeated bipolar sequence (b) shown in FIG. 2B may be used. The imaging sequence may be programmed into the control facility 110. The control facility 110 may then send trigger signals to the ultrasound transducer and the MRI hardware to ensure correct timing between the signals.
An example of an MR-ARFI image of an ultrasound focus region is shown in FIG. 3A. As shown, the material displacement with respect to an equilibrium position varies between about −1 μm and 5 μm. In general, the stronger the acoustic field intensity, the greater will be the maximum displacement at the center of the focus. The acoustic field intensity, in turn, is maximized when the individually controlled portions of the transducer (i.e., the elements within a transducer segments and/or the various segments) emit acoustic waves that are all in phase at the focus position. If a transducer element is out of phase with respect to the others, the focus intensity in the center decreases. This relationship can be exploited to optimize the focus, and thus to map and adjust the transducer elements and/or segments, as detailed further below. Assuming, for example, that all but one of the transducer elements of a segment are properly configured, the correct phase of the last element can be determined by tuning the phase over a full cycle (e.g., between −π and +π), measuring for each phase the displacement in the focus center, and then setting the phase to the value corresponding to the maximum displacement. FIG. 3B depicts the results of such an adjustment procedure. In the illustrated example, the material displacement over the full phase cycle of one element varies between about 4.85 μm and about 5.4 μm. The maximum displacement occurs at about 0.12 rad. Consequently, the focus intensity and quality can be improved by introducing a phase shift of 0.12 rad for the tested transducer element.
MR-ARFI may be used to “auto-focus” an ultrasound beam (i.e., to iteratively improve the focus quality of a pre-focused beam based on experimental feedback) in advance of the therapeutic application of ultrasound. Consider, for example, the treatment of a brain tumor with ultrasound. A transducer for such an application is usually large; it may surround a wide area of the skull and comprise a large number of elements (e.g., 1000). In preparation for treatment, the transducer is typically placed in a stable position relative to the patient's head, and the transducer elements are then activated at relative phases based on the sonication geometry (which generally includes the relative position and orientation of transducer and the target tissue, as well as the target location). Optionally, phase corrections may be applied to the transducer elements to compensate for tissue aberrations, which are mostly caused by the intervening skull tissue and which may vary significantly with location. The phase corrections may be computed based on skull-imaging data obtained, for example, through computer tomography or MRI, which provide estimates of the local skull bone thickness and density. Often, such computational correction for skull-based aberrations results in a noticeable, yet insufficient improvement of the focus quality. The focus may be optimized with an auto-focusing procedure, in which low-energy ultrasound is focused at (or near) the target, and a quantity correlated to the focus quality (e.g., the peak displacement caused by radiation force) is measured.
Auto-focusing typically involves a systematic series of sonications for various transducer phasing combinations. Without further information, it may take about 3000 or more sonications to optimize the focus of an array with 1000 elements. However, a-priori information capable of reducing the required number of sonications may be available. Such a-priori information may include a model of the target tissue, which may provide detailed information about the components of the target tissue (such as various tissue layers), their relative arrangement, and the associated material types, densities, and structures, and/or various material parameter values. A target tissue model may be developed based on images of the target tissue, and/or generally known or experimentally determined material parameters and physical properties of certain tissue types and/or interfaces between tissue layers (such as, e.g., coefficients of reflection at an interface between bone and soft tissue). In addition, a-priori information may include relevant parameters of the sonication geometry, i.e., the location and orientation of the transducer with respect to the target tissue. The sonication geometry may be known from mechanical constraints (such as, e.g., a rigid transducer structure that is placed in contact with the target tissue), or measured using fiducials or sensors embedded in the transducer, such as MR tracking coils or position sensors (e.g., tilt indicators, ultrasound, or optical encoders). Using such a-prior information, the relative phases between transducer elements that are required for a particular target are often predictable in the vicinity of a particular location at the transducer. On the other hand, the relative phases between groups of transducers that are further apart from one another may require adjustment.
FIG. 4 illustrates schematically an exemplary sonication geometry for ultrasound focusing into the brain. A curved transducer 400 is placed above a patient's skull 402 and driven so as to focus ultrasound from many directions onto a target 404. In this arrangement, the incidence angle of ultrasound onto the skull varies greatly, between 0° (perpendicular incidence) and about 40°. The incidence angle has been found to be a major determining factor for the reliability of phase corrections computed with a sonication model derived from computer tomography or MRI data. For incidence angles below about 15° and above about 35°, the phase corrections are usually highly reliable. For incidence angles in a critical range between about 15° and about 35° (corresponding to region 406 in FIG. 4), experimental adjustment of phases is desirable. Therefore, one approach to combining a-priori knowledge with experimental feedback involves segmenting the transducer array (or, in other words, grouping the transducer elements) into sub-arrays according to incidence angle. Sub-arrays associated with incidence angles that do not allow for reliable prediction may consist of only few or, in the extreme case, individual transducer elements, whereas sub-arrays associated with low (e.g., <15° or high (e.g., >35° incidence angles typically include many elements—and generally the higher the degree of predictability, the more elements may be combined in a sub-array.
As a person of skill in the art will appreciate, the smart-grouping approach outlined above may be modified depending on the particular application. For example, the critical range of incidence angles may differ from the one used in the above example. Further, the grouping of transducer elements need not be based on incidence angles at all, but may, generally, be based on other parameters of the sonication model that affect the reliability of computationally determined transducer element phases. For instance, the grouping may be based on the predominant type of tissue that an acoustic wave traverses to reach the focus location. Tissue type is relevant, for example, in the treatment of breast cancer, as illustrated in FIG. 5. The figure shows an MRI image of the breast 500 of a woman in prone position, which is to be treated from below as indicated by the arrows 502. A set of many MRI images would be needed for three-dimensional information. The ultrasound beam, which originates from a transducer surface 504, generally passes through both fatty and non-fatty tissues, which have different sound velocities. These variations in velocity may cause aberrations that disturb the focus. The aberrations may be reduced by calculating time delays for each transducer element from the MRI image(s), and compensating for the time delays with corresponding phase shifts. To increase the accuracy of the calculated time delays, the transducer may be partitioned into sub-arrays whose acoustic waves travel through mostly fatty or mostly non-fatty tissue, respectively.
FIG. 6A illustrates, in a flow chart, a method of focusing a transducer array using smart grouping. After the transducer elements have been grouped into sub-arrays (step 600), each sub-array may be driven so as to create a discrete sub-focus at or near the target, such as, e.g., target 404 in FIG. 4 (step 602). The relative phases (and amplitudes) of the elements within a sub-array may be computed based on the sonication model (i.e., information about the local geometry and tissue properties). In some embodiments, the sub-foci of one or more sub-arrays are further improved using auto-focusing with focus quality feedback. For example, in the context of focusing ultrasound into the brain as shown in FIG. 4, instead of sub-dividing the transducer into individual transducer elements at locations corresponding to incidence angles in the critical regime (where a high resolution is generally required), the transducer elements may be grouped into a sub-array, their relative phases adjusted using, e.g., MR-ARFI, and the sub-array subsequently treated as only one element.
Once the relative phases within the sub-arrays are properly set, the quality of the global focus, which is the superposition of the sub-foci, may be measured (step 604), e.g., using MR-ARFI. An optimal global focus is achieved when the sub-foci constructively interfere, i.e., when they are co-located and in phase. In many (but not all) applications, adjusting the overall phase of each sub-array will suffice to achieve constructive interference because creating the sub-foci at the target location will already guarantee their geometric overlap. If the sub-foci are not sufficiently co-located (due to a deviation of their location from the target location), their relative positions may be adjusted by steering the respective ultrasound beams to the desired location (step 606). Steering involves applying phase gradients to the sub-arrays, which changes the relative phases between transducer elements within a sub-array, but in a constrained way that preserves most of the information about relative phases. To bring the sub-foci in phase, phase shifts may be applied to the sub-arrays (step 608). (Applying a phase shift to a sub-array involves applying that phase shift to each element within the sub-array.) When the focus quality is sufficient, i.e., the sub-foci constructively interfere, the transducer may be employed in treating the target (step 610).
A different approach to using information of the target tissue and supplementing it with experimental feedback on the focus quality involves modeling the target tissue with variable parameters. Such a target-tissue model may account for the fact that some parameters are better known than others. For example, the MR image shown in FIG. 5 provides good information about the thickness of the various tissues, such as water, fatty tissue, and non-fatty tissue, along the acoustic rays originating at different transducer locations. However, while the sound velocity of water is well-known, the sound velocities of fatty and non-fatty tissues are only known within comparatively large intervals of uncertainty, and generally vary between patients. Thus, the time delays for the different acoustic rays are also uncertain. The degree of uncertainty may, however, be reduced indirectly by computing the relative phases for different values of the sound velocities within the known ranges, and comparing the quality of the resulting foci (again, using MR-ARFI or another technique to measure focus parameters indicative of the quality). The sound velocity values that result in the best focus (among the ones measured and compared) may then be assumed to be good approximations of the true sound velocities.
More generally, focus quality feedback may be used to supplement an incomplete target tissue model with N unknown parameters. For each unknown parameter vi, the interval of uncertainty may be sampled with ki values. For example, in the breast treatment case, where N=2, the sound velocity of fatty tissue and the sound velocity of non-fatty tissue may each be sampled with k1=k2=5 values. Exploring the entire discrete two-dimensional space of parameter values will then require 25 sonications—significantly fewer than would typically be needed to adjust the transducer element phases without using any a-priori information about the target tissue. Determining values of tissue model parameters using MR-ARFI feedback may thus, in certain applications, provide a viable alternative to smart grouping for the purpose of achieving high focus quality with a reduced number of calibration sonications.
FIG. 6B illustrates a method of using a target tissue model in combination with experimental feedback to improve the quality of an ultrasound focus. The first step 650—providing the model—may be accomplished, for example, by imaging the target tissue with the MRI apparatus to determine the thicknesses and locations of various tissue layers, and supplying this information to the control facility. Then, model parameters that are not known a priori are assigned arbitrary values within ranges in which the true values are expected to lie (step 652), the relative phases are adjusted based on the model and the selected parameter values (step 654), and the transducer is focused (step 656) and the focus quality measured (step 656). These steps are repeated for multiple value sets of the parameters. The focus qualities for different value sets are then compared, and the value set that corresponds to the best focus is selected. Once the target tissue model has thus been supplemented, the transducer may be driven in accordance with the model to sonicate and thereby treat the target (step 662).
Although the present invention has been described with reference to specific details, it is not intended that such details should be regarded as limitations upon the scope of the invention, except as and to the extent that they are included in the accompanying claims.

Claims (3)

What is claimed is:
1. A system for focusing ultrasound into a target tissue using a sonication model, the system comprising:
a phased array of ultrasound transducer elements configured to generate an ultrasound focus in the target tissue;
an imaging system configured to image the ultrasound focus; and
in communication with the imaging system and the phased array of transducer elements, a control facility configured to set relative phases between the transducer elements so as to create a global focus from a plurality of sub-foci, the facility being configured to (i) receive data associated with the sonication model, the data comprising a parameter including at least one of an incidence angle or a predominant type of the target tissue and affecting a reliability of computational phase determinations, (ii) based at least in part on the parameter, group the transducer elements into sub-arrays, at least one of the sub-arrays comprising multiple transducer elements, and compute relative phases of the transducer elements within each sub-array, (iii) drive the transducer elements of the sub-arrays at the respective computed relative phases so as to generate the ultrasound sub-foci, each of which is associated with one of the sub-arrays, and (iv) based at least in part on an image of the ultrasound sub-foci, adjust the relative phases so as to cause constructive interference of the ultrasound foci, thereby generating the global focus.
2. The system of claim 1, wherein the imaging system is a magnetic resonance imaging system.
3. A system for use in connection with an imaging system and for focusing ultrasound into a target tissue using a sonication model, the system comprising:
a phased array of ultrasound transducer elements configured to generate an ultrasound focus in the target tissue; and
a control facility configured to set relative phases between the transducer elements so as to create a global focus from a plurality of sub-foci, the facility being configured to (i) receive data associated with the sonication model, the data comprising a parameter including at least one of an incidence angle or a predominant type of the target tissue and affecting a reliability of computational phase determinations, (ii) based at least in part on the parameter, group the transducer elements into sub-arrays, at least one of the sub-arrays comprising multiple transducer elements, and compute relative phases of the transducer elements within each sub-array, (iii) drive the transducer elements of the sub-arrays at the respective computed relative phases so as to generate the ultrasound sub-foci, each of which is associated with one of the sub-arrays, and (iv) based at least in part on an image of the ultrasound sub-foci provided by the imaging system, adjust the relative phases so as to cause constructive interference of the ultrasound foci, thereby generating the global focus.
US12/769,059 2010-04-28 2010-04-28 Efficient ultrasound focusing Active 2030-09-05 US8932237B2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US12/769,059 US8932237B2 (en) 2010-04-28 2010-04-28 Efficient ultrasound focusing
CN201180032003.8A CN102946945B (en) 2010-04-28 2011-04-26 Efficient ultrasonic focuses on
EP11743611.3A EP2563476B1 (en) 2010-04-28 2011-04-26 Efficient ultrasound focusing
PCT/IB2011/001375 WO2011135458A2 (en) 2010-04-28 2011-04-26 Efficient ultrasound focusing

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US12/769,059 US8932237B2 (en) 2010-04-28 2010-04-28 Efficient ultrasound focusing

Publications (2)

Publication Number Publication Date
US20110270136A1 US20110270136A1 (en) 2011-11-03
US8932237B2 true US8932237B2 (en) 2015-01-13

Family

ID=44509479

Family Applications (1)

Application Number Title Priority Date Filing Date
US12/769,059 Active 2030-09-05 US8932237B2 (en) 2010-04-28 2010-04-28 Efficient ultrasound focusing

Country Status (4)

Country Link
US (1) US8932237B2 (en)
EP (1) EP2563476B1 (en)
CN (1) CN102946945B (en)
WO (1) WO2011135458A2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130123630A1 (en) * 2011-11-16 2013-05-16 Siemens Medical Solutions Usa, Inc. Adaptive Image Optimization in Induced Wave Ultrasound Imaging
US9177543B2 (en) 2009-08-26 2015-11-03 Insightec Ltd. Asymmetric ultrasound phased-array transducer for dynamic beam steering to ablate tissues in MRI
US9412357B2 (en) 2009-10-14 2016-08-09 Insightec Ltd. Mapping ultrasound transducers
WO2019116107A1 (en) 2017-12-11 2019-06-20 Insightec, Ltd. Adaptive, closed- loop ultrasound therapy
WO2020058757A1 (en) 2018-09-17 2020-03-26 Insightec, Ltd. Ultrasound focusing utilizing a 3d-printed skull replica
WO2020136434A1 (en) 2018-12-27 2020-07-02 Insightec, Ltd Optimization of transducer configurations in ultrasound procedures
WO2023079358A2 (en) 2021-11-05 2023-05-11 Insightec, Ltd. Variable-bandwidth transducers with asymmetric features
US11752365B2 (en) * 2016-02-09 2023-09-12 Irmengard Theuer Device for treating malignant diseases with the help of tumor-destructive mechanical pulses (TMI)

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8256430B2 (en) 2001-06-15 2012-09-04 Monteris Medical, Inc. Hyperthermia treatment and probe therefor
US20100172777A1 (en) * 2007-07-02 2010-07-08 Borgwarner Inc. Inlet design for a pump assembly
US9852727B2 (en) 2010-04-28 2017-12-26 Insightec, Ltd. Multi-segment ultrasound transducers
CN102258362B (en) * 2010-05-31 2014-09-17 西门子公司 Method for reducing temperature measurement error of magnetic resonance
EP2665520B1 (en) * 2011-01-18 2018-11-21 Koninklijke Philips N.V. Therapeutic apparatus, computer program product, and method for determining an achievable target region for high intensity focused ultrasound
US11116405B2 (en) * 2012-04-12 2021-09-14 Profound Medical Inc. High-intensity focused ultrasound for heating a target zone larger than the electronic focusing zone
WO2014003855A1 (en) 2012-06-27 2014-01-03 Monteris Medical Corporation Image-guided therapy of a tissue
BR112015000245A8 (en) * 2012-07-09 2018-02-06 Koninklijke Philips Nv MEDICAL EQUIPMENT, COMPUTER PROGRAM PRODUCT AND METHOD OF OPERATING MEDICAL EQUIPMENT
US20150335919A1 (en) * 2012-12-31 2015-11-26 Perseus-Biomed Inc. Phased array energy aiming and tracking for ablation treatment
JP6266749B2 (en) * 2013-04-05 2018-01-24 プロファウンド メディカル インク Determination of the energy deposition zone of a catheter equipped with an ultrasonic array
US9119955B2 (en) 2013-05-23 2015-09-01 General Electric Company System and method for focusing of high intensity focused ultrasound based on magnetic resonance—acoustic radiation force imaging feedback
WO2015003154A1 (en) 2013-07-03 2015-01-08 Histosonics, Inc. Articulating arm limiter for cavitational ultrasound therapy system
WO2015027164A1 (en) 2013-08-22 2015-02-26 The Regents Of The University Of Michigan Histotripsy using very short ultrasound pulses
WO2015102474A1 (en) * 2014-01-06 2015-07-09 Samsung Electronics Co., Ltd. Ultrasound diagnostic apparatus, ultrasound image capturing method, and computer-readable recording medium
WO2015143025A1 (en) 2014-03-18 2015-09-24 Monteris Medical Corporation Image-guided therapy of a tissue
US10675113B2 (en) 2014-03-18 2020-06-09 Monteris Medical Corporation Automated therapy of a three-dimensional tissue region
US9504484B2 (en) 2014-03-18 2016-11-29 Monteris Medical Corporation Image-guided therapy of a tissue
US10456603B2 (en) * 2014-12-10 2019-10-29 Insightec, Ltd. Systems and methods for optimizing transskull acoustic treatment
US20190030374A1 (en) * 2014-12-19 2019-01-31 Universite Pierre Et Marie Curie (Paris 6) Implantable ultrasound generating treating device for brain treatment, apparatus comprising such device and method implementing such device
CN104587612A (en) * 2015-01-10 2015-05-06 管勇 Ultrasonic intracranial tumor treatment apparatus
US10327830B2 (en) 2015-04-01 2019-06-25 Monteris Medical Corporation Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor
ES2948135T3 (en) * 2015-06-24 2023-08-31 Univ Michigan Regents Histotripsy therapy systems for the treatment of brain tissue
US10993702B2 (en) * 2016-03-03 2021-05-04 Canon Medical Systems Corporation Ultrasonic diagnostic apparatus
US11291430B2 (en) 2016-07-14 2022-04-05 Insightec, Ltd. Precedent-based ultrasound focusing
GB2557915B (en) * 2016-12-16 2020-06-10 Calderon Agudo Oscar Method of and apparatus for non invasive medical imaging using waveform inversion
WO2018112664A1 (en) * 2016-12-22 2018-06-28 Sunnybrook Research Institute Systems and methods for performing transcranial ultrasound therapeutic and imaging procedures
US11103731B2 (en) * 2017-01-12 2021-08-31 Insightec, Ltd. Overcoming acoustic field and skull non-uniformities
FR3069150B1 (en) * 2017-07-19 2019-08-02 Centre National De La Recherche Scientifique (Cnrs) METHOD OF CHARACTERIZING BONE USING ULTRASONIC WAVES
CN115779285A (en) * 2018-06-06 2023-03-14 医视特有限公司 Improved reflective autofocus
WO2020113083A1 (en) 2018-11-28 2020-06-04 Histosonics, Inc. Histotripsy systems and methods
JP2022534268A (en) * 2019-05-31 2022-07-28 サニーブルック リサーチ インスティチュート Systems and methods for reducing thermal aberrations induced by the skull during transcranial ultrasound treatment procedures
WO2020245660A1 (en) * 2019-06-06 2020-12-10 Insightec, Ltd. Improved magnetic resonance (mr) performance in mr-guided ultrasound systems
WO2021155026A1 (en) 2020-01-28 2021-08-05 The Regents Of The University Of Michigan Systems and methods for histotripsy immunosensitization

Citations (254)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2795709A (en) 1953-12-21 1957-06-11 Bendix Aviat Corp Electroplated ceramic rings
US3142035A (en) 1960-02-04 1964-07-21 Harris Transducer Corp Ring-shaped transducer
US3942150A (en) 1974-08-12 1976-03-02 The United States Of America As Represented By The Secretary Of The Navy Correction of spatial non-uniformities in sonar, radar, and holographic acoustic imaging systems
US3974475A (en) 1971-10-07 1976-08-10 Hoffmann-La Roche Inc. Method of and apparatus for focusing ultrasonic waves in a focal line
US3992693A (en) 1972-12-04 1976-11-16 The Bendix Corporation Underwater transducer and projector therefor
US4000493A (en) 1971-04-12 1976-12-28 Eastman Kodak Company Acoustooptic scanner apparatus and method
US4074564A (en) 1974-04-25 1978-02-21 Varian Associates, Inc. Reconstruction system and method for ultrasonic imaging
US4206653A (en) 1975-10-02 1980-06-10 E M I Limited Ultrasonic apparatus
US4211132A (en) 1977-11-21 1980-07-08 E. I. Du Pont De Nemours And Company Apparatus for on-line defect zoning
US4307613A (en) 1979-06-14 1981-12-29 University Of Connecticut Electronically focused ultrasonic transmitter
US4339952A (en) 1979-04-26 1982-07-20 Ontario Cancer Institute Cylindrical transducer ultrasonic scanner
US4454597A (en) 1982-05-03 1984-06-12 The United States Of America As Represented By The Secretary Of The Navy Conformal array compensating beamformer
US4478083A (en) 1982-06-30 1984-10-23 Siemens Aktiengesellschaft Plane reconstruction ultrasound tomography device
US4505156A (en) 1983-06-21 1985-03-19 Sound Products Company L.P. Method and apparatus for switching multi-element transducer arrays
US4526168A (en) 1981-05-14 1985-07-02 Siemens Aktiengesellschaft Apparatus for destroying calculi in body cavities
US4537074A (en) 1983-09-12 1985-08-27 Technicare Corporation Annular array ultrasonic transducers
US4549533A (en) 1984-01-30 1985-10-29 University Of Illinois Apparatus and method for generating and directing ultrasound
US4554925A (en) 1982-07-07 1985-11-26 Picker International, Ltd. Nuclear magnetic resonance imaging method
US4662222A (en) 1984-12-21 1987-05-05 Johnson Steven A Apparatus and method for acoustic imaging using inverse scattering techniques
US4817614A (en) 1986-08-20 1989-04-04 Siemens Aktiengesellschaft Method and apparatus for adaptive focusing in a medical ultrasound imaging apparatus
US4858597A (en) 1983-06-01 1989-08-22 Richard Wolf Gmbh Piezoelectric transducer for the destruction of concretions within an animal body
US4865042A (en) 1985-08-16 1989-09-12 Hitachi, Ltd. Ultrasonic irradiation system
US4888746A (en) 1987-09-24 1989-12-19 Richard Wolf Gmbh Focussing ultrasound transducer
US4889122A (en) 1985-11-29 1989-12-26 Aberdeen University Divergent ultrasound arrays
US4893284A (en) 1988-05-27 1990-01-09 General Electric Company Calibration of phased array ultrasound probe
US4893624A (en) 1988-06-21 1990-01-16 Massachusetts Institute Of Technology Diffuse focus ultrasound hyperthermia system
US4937767A (en) 1986-12-24 1990-06-26 Hewlett-Packard Company Method and apparatus for adjusting the intensity profile of an ultrasound beam
WO1991000059A1 (en) 1989-07-03 1991-01-10 Institut National De La Sante Et De La Recherche Medicale Equipment for obtaining medical, pharmacological or other data by nuclear and echographic magnetic resonance
US5197475A (en) 1988-08-10 1993-03-30 The Board Of Regents, The University Of Texas System Method and apparatus for analyzing material properties using ultrasound
JPH0592008A (en) 1991-10-03 1993-04-16 Toshiba Corp Impulse wave medical treatment device
US5209221A (en) 1988-03-01 1993-05-11 Richard Wolf Gmbh Ultrasonic treatment of pathological tissue
US5211160A (en) 1988-09-14 1993-05-18 Interpore Orthopaedics, Inc. Ultrasonic orthopedic treatment head and body-mounting means therefor
US5247935A (en) 1992-03-19 1993-09-28 General Electric Company Magnetic resonance guided focussed ultrasound surgery
EP0320303B1 (en) 1987-12-11 1993-10-27 General Electric Company Coherent beam formation
US5271400A (en) 1992-04-01 1993-12-21 General Electric Company Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device
US5275165A (en) 1992-11-06 1994-01-04 General Electric Company Magnetic resonance guided ultrasound therapy system with inclined track to move transducers in a small vertical space
US5291890A (en) 1991-08-29 1994-03-08 General Electric Company Magnetic resonance surgery using heat waves produced with focussed ultrasound
US5307812A (en) 1993-03-26 1994-05-03 General Electric Company Heat surgery system monitored by real-time magnetic resonance profiling
US5307816A (en) 1991-08-21 1994-05-03 Kabushiki Kaisha Toshiba Thrombus resolving treatment apparatus
US5318025A (en) 1992-04-01 1994-06-07 General Electric Company Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection
US5329930A (en) 1993-10-12 1994-07-19 General Electric Company Phased array sector scanner with multiplexed acoustic transducer elements
US5368032A (en) 1993-11-09 1994-11-29 General Electric Company Manually positioned focussed energy system guided by medical imaging
US5368031A (en) 1993-08-29 1994-11-29 General Electric Company Magnetic resonance surgery using heat waves produced with a laser fiber
US5379642A (en) 1993-07-19 1995-01-10 Diasonics Ultrasound, Inc. Method and apparatus for performing imaging
US5391140A (en) 1993-01-29 1995-02-21 Siemens Aktiengesellschaft Therapy apparatus for locating and treating a zone in the body of a life form with acoustic waves
US5413550A (en) 1993-07-21 1995-05-09 Pti, Inc. Ultrasound therapy system with automatic dose control
WO1995014505A1 (en) 1993-11-24 1995-06-01 Massachusetts Institute Of Technology Minimally invasive monopole phased array hyperthermia applicators for treating breast carcinomas
US5435312A (en) 1991-05-31 1995-07-25 Spivey; Brett A. Acoustic imaging device
JPH07184907A (en) 1993-12-28 1995-07-25 Toshiba Corp Ultrasonic treating device
US5443068A (en) 1994-09-26 1995-08-22 General Electric Company Mechanical positioner for magnetic resonance guided ultrasound therapy
JPH07231895A (en) 1994-02-23 1995-09-05 Toshiba Corp Ultrasonic therapeutic device
JPH07313518A (en) 1994-05-25 1995-12-05 Toshiba Corp Ultrasonic therapeutic device
US5474071A (en) 1991-03-05 1995-12-12 Technomed Medical Systems Therapeutic endo-rectal probe and apparatus constituting an application thereof for destroying cancer tissue, in particular of the prostate, and preferably in combination with an imaging endo-cavitary-probe
US5485839A (en) 1992-02-28 1996-01-23 Kabushiki Kaisha Toshiba Method and apparatus for ultrasonic wave medical treatment using computed tomography
US5490840A (en) 1994-09-26 1996-02-13 General Electric Company Targeted thermal release of drug-polymer conjugates
US5507790A (en) 1994-03-21 1996-04-16 Weiss; William V. Method of non-invasive reduction of human site-specific subcutaneous fat tissue deposits by accelerated lipolysis metabolism
US5520612A (en) 1994-12-30 1996-05-28 Exogen, Inc. Acoustic system for bone-fracture therapy
US5520188A (en) 1994-11-02 1996-05-28 Focus Surgery Inc. Annular array transducer
US5526814A (en) 1993-11-09 1996-06-18 General Electric Company Automatically positioned focussed energy system guided by medical imaging
US5549638A (en) 1994-05-17 1996-08-27 Burdette; Everette C. Ultrasound device for use in a thermotherapy apparatus
US5553618A (en) 1993-03-12 1996-09-10 Kabushiki Kaisha Toshiba Method and apparatus for ultrasound medical treatment
US5573497A (en) 1994-11-30 1996-11-12 Technomed Medical Systems And Institut National High-intensity ultrasound therapy method and apparatus with controlled cavitation effect and reduced side lobes
US5582578A (en) 1995-08-01 1996-12-10 Duke University Method for the comminution of concretions
US5590657A (en) 1995-11-06 1997-01-07 The Regents Of The University Of Michigan Phased array ultrasound system and method for cardiac ablation
US5590653A (en) 1993-03-10 1997-01-07 Kabushiki Kaisha Toshiba Ultrasonic wave medical treatment apparatus suitable for use under guidance of magnetic resonance imaging
US5601526A (en) 1991-12-20 1997-02-11 Technomed Medical Systems Ultrasound therapy apparatus delivering ultrasound waves having thermal and cavitation effects
US5605154A (en) 1995-06-06 1997-02-25 Duke University Two-dimensional phase correction using a deformable ultrasonic transducer array
US5606971A (en) 1995-11-13 1997-03-04 Artann Corporation, A Nj Corp. Method and device for shear wave elasticity imaging
US5617371A (en) 1995-02-08 1997-04-01 Diagnostic/Retrieval Systems, Inc. Method and apparatus for accurately determing the location of signal transducers in a passive sonar or other transducer array system
US5617857A (en) 1995-06-06 1997-04-08 Image Guided Technologies, Inc. Imaging system having interactive medical instruments and methods
US5662170A (en) 1994-11-22 1997-09-02 Baker Hughes Incorporated Method of drilling and completing wells
US5665054A (en) 1994-01-27 1997-09-09 Technomed Medical Systems S.A. Control method for hyperthermia treatment apparatus using ultrasound
US5676673A (en) 1994-09-15 1997-10-14 Visualization Technology, Inc. Position tracking and imaging system with error detection for use in medical applications
US5687729A (en) 1994-06-22 1997-11-18 Siemens Aktiengesellschaft Source of therapeutic acoustic waves introducible into the body of a patient
US5694936A (en) 1994-09-17 1997-12-09 Kabushiki Kaisha Toshiba Ultrasonic apparatus for thermotherapy with variable frequency for suppressing cavitation
US5711300A (en) 1995-08-16 1998-01-27 General Electric Company Real time in vivo measurement of temperature changes with NMR imaging
US5728062A (en) 1995-11-30 1998-03-17 Pharmasonics, Inc. Apparatus and methods for vibratory intraluminal therapy employing magnetostrictive transducers
US5739625A (en) 1994-05-09 1998-04-14 The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Island Segmented ring transducers
US5752515A (en) 1996-08-21 1998-05-19 Brigham & Women's Hospital Methods and apparatus for image-guided ultrasound delivery of compounds through the blood-brain barrier
US5759162A (en) 1992-03-10 1998-06-02 Siemens Aktiengesellschaft Method and apparatus for ultrasound tissue therapy
US5762616A (en) 1996-03-15 1998-06-09 Exogen, Inc. Apparatus for ultrasonic treatment of sites corresponding to the torso
US5769790A (en) 1996-10-25 1998-06-23 General Electric Company Focused ultrasound surgery system guided by ultrasound imaging
US5784336A (en) * 1996-11-18 1998-07-21 Furuno Diagnostics America, Inc. Delay scheme and apparatus for focussing the transmission and reception of a summed ultrasonic beam
US5810731A (en) 1995-11-13 1998-09-22 Artann Laboratories Method and apparatus for elasticity imaging using remotely induced shear wave
US5810008A (en) 1996-12-03 1998-09-22 Isg Technologies Inc. Apparatus and method for visualizing ultrasonic images
WO1998052465A1 (en) 1997-05-23 1998-11-26 Transurgical, Inc. Mri-guided therapeutic unit and methods
US5873845A (en) 1997-03-17 1999-02-23 General Electric Company Ultrasound transducer with focused ultrasound refraction plate
US5904659A (en) 1997-02-14 1999-05-18 Exogen, Inc. Ultrasonic treatment for wounds
US5938608A (en) 1995-03-03 1999-08-17 Siemens Aktiengesellschaft Therapy apparatus for carrying out treatment with focused ultrasound
US5938600A (en) 1995-12-14 1999-08-17 U.S. Philips Corporation Method and device for heating by means of ultrasound
US5947900A (en) 1998-04-13 1999-09-07 General Electric Company Dynamic scan plane tracking using MR position monitoring
JPH11313833A (en) 1992-02-28 1999-11-16 Toshiba Corp Ultrasonic therapeutic device
US5984881A (en) 1995-03-31 1999-11-16 Kabushiki Kaisha Toshiba Ultrasound therapeutic apparatus using a therapeutic ultrasonic wave source and an ultrasonic probe
US6004269A (en) 1993-07-01 1999-12-21 Boston Scientific Corporation Catheters for imaging, sensing electrical potentials, and ablating tissue
US6023636A (en) 1997-06-25 2000-02-08 Siemens Aktiengesellschaft Magnetic resonance apparatus and method for determining the location of a positionable object in a subject
US6042556A (en) 1998-09-04 2000-03-28 University Of Washington Method for determining phase advancement of transducer elements in high intensity focused ultrasound
WO2000031614A1 (en) 1998-11-25 2000-06-02 Flashpoint Technology, Inc. Digital image capture devices and methods and systems associated therewith
US6071239A (en) 1997-10-27 2000-06-06 Cribbs; Robert W. Method and apparatus for lipolytic therapy using ultrasound energy
US6113559A (en) 1997-12-29 2000-09-05 Klopotek; Peter J. Method and apparatus for therapeutic treatment of skin with ultrasound
US6128958A (en) 1997-09-11 2000-10-10 The Regents Of The University Of Michigan Phased array system architecture
US6135960A (en) 1998-08-31 2000-10-24 Holmberg; Linda Jean High-resolution, three-dimensional whole body ultrasound imaging system
DE4345308C2 (en) 1992-07-15 2001-02-01 Fukuda Denshi Kk Medical ultrasonic diagnosis system
US6193659B1 (en) 1997-07-15 2001-02-27 Acuson Corporation Medical ultrasonic diagnostic imaging method and apparatus
US6217530B1 (en) 1999-05-14 2001-04-17 University Of Washington Ultrasonic applicator for medical applications
US6242915B1 (en) 1999-08-27 2001-06-05 General Electric Company Field-frequency lock system for magnetic resonance system
US6246896B1 (en) 1998-11-24 2001-06-12 General Electric Company MRI guided ablation system
US6263230B1 (en) 1997-05-08 2001-07-17 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
US6289233B1 (en) 1998-11-25 2001-09-11 General Electric Company High speed tracking of interventional devices using an MRI system
EP1132054A1 (en) 1998-10-26 2001-09-12 Hitachi, Ltd. Ultrasonic medical treating device
WO2001066189A1 (en) 2000-03-09 2001-09-13 Transurgical, Inc. Hifu application with feedback control using bubble detection
FR2806611A1 (en) 2000-03-22 2001-09-28 Hossein Kafai Medical ultrasonic imaging device for examination of jaw region uses ultrasonic probes arranged on either side of face
US20010031922A1 (en) 1999-12-23 2001-10-18 Therus Corporation Ultrasound transducers for imaging and therapy
US6309355B1 (en) 1998-12-22 2001-10-30 The Regents Of The University Of Michigan Method and assembly for performing ultrasound surgery using cavitation
WO2001080709A2 (en) 2000-04-21 2001-11-01 Txsonics Ltd. Systems and methods for creating longer necrosed volumes using a phased array focused ultrasound system
US6317619B1 (en) 1999-07-29 2001-11-13 U.S. Philips Corporation Apparatus, methods, and devices for magnetic resonance imaging controlled by the position of a moveable RF coil
US6322527B1 (en) 1997-04-18 2001-11-27 Exogen, Inc. Apparatus for ultrasonic bone treatment
US6334846B1 (en) 1995-03-31 2002-01-01 Kabushiki Kaisha Toshiba Ultrasound therapeutic apparatus
US20020035779A1 (en) 2000-06-09 2002-03-28 Robert Krieg Method for three-dimensionally correcting distortions and magnetic resonance apparatus for implementing the method
US6392330B1 (en) 2000-06-05 2002-05-21 Pegasus Technologies Ltd. Cylindrical ultrasound receivers and transceivers formed from piezoelectric film
US6397094B1 (en) 1998-01-09 2002-05-28 Koninklijke Philips Electronics N.V. MR method utilizing microcoils situated in the examination zone
WO2002043805A1 (en) 2000-11-28 2002-06-06 Insightec-Txsonics Ltd. System for steering a focused ultrasund array
WO2001058337A3 (en) 2000-02-09 2002-06-13 Spencer Technologies Inc Method and apparatus combining diagnostic ultrasound with therapeutic ultrasound to enhance thrombolysis
US20020082589A1 (en) 2000-12-27 2002-06-27 Insightec - Image Guided Treatement Ltd. Systems and methods for ultrasound assisted lipolysis
US6419648B1 (en) 2000-04-21 2002-07-16 Insightec-Txsonics Ltd. Systems and methods for reducing secondary hot spots in a phased array focused ultrasound system
US20020095087A1 (en) 2000-11-28 2002-07-18 Mourad Pierre D. Systems and methods for making noninvasive physiological assessments
US6424597B1 (en) 1998-11-27 2002-07-23 Commissariat A L'energie Atomique Multielements ultrasonic contact transducer
US6425867B1 (en) 1998-09-18 2002-07-30 University Of Washington Noise-free real time ultrasonic imaging of a treatment site undergoing high intensity focused ultrasound therapy
WO2002058791A1 (en) 2000-12-15 2002-08-01 The Brigham And Women's Hospital, Inc. Method and system for calculating phase and amplitude corrections in ultrasound therapy
US6428532B1 (en) 1998-12-30 2002-08-06 The General Hospital Corporation Selective tissue targeting by difference frequency of two wavelengths
US6433464B2 (en) 1998-11-20 2002-08-13 Joie P. Jones Apparatus for selectively dissolving and removing material using ultra-high frequency ultrasound
US6461314B1 (en) 1999-02-02 2002-10-08 Transurgical, Inc. Intrabody hifu applicator
WO2002044753A3 (en) 2000-11-28 2002-10-17 Insightec Txsonics Ltd Systems and methods for focussing an acoustic energy beam transmitted through non-uniform tissue medium
US20020161300A1 (en) 2000-10-19 2002-10-31 Lars Hoff Ultrasound measurement techniques for bone analysis
US6475150B2 (en) 2000-12-01 2002-11-05 The Regents Of The University Of California System and method for ultrasonic tomography
US6478739B1 (en) 2001-05-11 2002-11-12 The Procter & Gamble Company Ultrasonic breast examination system
US20020188229A1 (en) 1997-02-06 2002-12-12 Ryaby John P. Method and apparatus for cartilage growth stimulation
US6506154B1 (en) 2000-11-28 2003-01-14 Insightec-Txsonics, Ltd. Systems and methods for controlling a phased array focused ultrasound system
US6506171B1 (en) 2000-07-27 2003-01-14 Insightec-Txsonics, Ltd System and methods for controlling distribution of acoustic energy around a focal point using a focused ultrasound system
US6522142B1 (en) 2001-12-14 2003-02-18 Insightec-Txsonics Ltd. MRI-guided temperature mapping of tissue undergoing thermal treatment
WO2003013654A1 (en) 2001-08-09 2003-02-20 Exogen, Inc. Method and means for controlling acoustic modes in tissue healing applications
US6523272B1 (en) 2001-08-03 2003-02-25 George B. Morales Measuring device and method of manufacture
US6524251B2 (en) 1999-10-05 2003-02-25 Omnisonics Medical Technologies, Inc. Ultrasonic device for tissue ablation and sheath for use therewith
US20030060820A1 (en) 1997-07-08 2003-03-27 Maguire Mark A. Tissue ablation device assembly and method for electrically isolating a pulmonary vein ostium from an atrial wall
US6559644B2 (en) 2001-05-30 2003-05-06 Insightec - Txsonics Ltd. MRI-based temperature mapping with error compensation
US6566878B1 (en) 1999-09-09 2003-05-20 Hitachi Medical Corporation Magnetic resonance imaging device and method therefor
US6582381B1 (en) 2000-07-31 2003-06-24 Txsonics Ltd. Mechanical positioner for MRI guided ultrasound therapy system
US6599256B1 (en) 1999-09-10 2003-07-29 Transurgical, Inc. Occlusion of tubular anatomical structures by energy application
US6618608B1 (en) 1999-11-30 2003-09-09 Txsonics, Ltd. Thermal imaging of fat and muscle using a simultaneous phase and magnitude double echo sequence
US6618620B1 (en) 2000-11-28 2003-09-09 Txsonics Ltd. Apparatus for controlling thermal dosing in an thermal treatment system
US6626854B2 (en) 2000-12-27 2003-09-30 Insightec - Txsonics Ltd. Systems and methods for ultrasound assisted lipolysis
US6626855B1 (en) 1999-11-26 2003-09-30 Therus Corpoation Controlled high efficiency lesion formation using high intensity ultrasound
US20030187371A1 (en) 2002-03-27 2003-10-02 Insightec-Txsonics Ltd. Systems and methods for enhanced focused ultrasound ablation using microbubbles
US6629929B1 (en) 2002-11-08 2003-10-07 Koninklijke Philips Electronics N.V. Method and apparatus for automatically setting the transmit aperture and apodization of an ultrasound transducer array
US6652461B1 (en) 1999-04-15 2003-11-25 F.R.A.Y Project Ltd. Ultrasound device for three-dimensional imaging of internal structure of a body part
WO2003098232A2 (en) 2002-05-17 2003-11-27 Case Western Reserve University Chemical shift markers for improved wireless fiducial marker tracking
US6676602B1 (en) 2002-07-25 2004-01-13 Siemens Medical Solutions Usa, Inc. Two dimensional array switching for beamforming in a volume
US6676601B1 (en) 1999-05-26 2004-01-13 Technomed Medical Systems, S.A. Apparatus and method for location and treatment using ultrasound
US6679855B2 (en) 2000-11-07 2004-01-20 Gerald Horn Method and apparatus for the correction of presbyopia using high intensity focused ultrasound
US20040030251A1 (en) 2002-05-10 2004-02-12 Ebbini Emad S. Ultrasound imaging system and method using non-linear post-beamforming filter
US6705994B2 (en) 2002-07-08 2004-03-16 Insightec - Image Guided Treatment Ltd Tissue inhomogeneity correction in ultrasound imaging
US20040059265A1 (en) 2002-09-12 2004-03-25 The Regents Of The University Of California Dynamic acoustic focusing utilizing time reversal
US20040068186A1 (en) 2001-01-22 2004-04-08 Kazunari Ishida Ultrasonic therapeutic probe and ultrasonic device
US6735461B2 (en) 2001-06-19 2004-05-11 Insightec-Txsonics Ltd Focused ultrasound system with MRI synchronization
US6733450B1 (en) 2000-07-27 2004-05-11 Texas Systems, Board Of Regents Therapeutic methods and apparatus for use of sonication to enhance perfusion of tissue
US20040122323A1 (en) 2002-12-23 2004-06-24 Insightec-Txsonics Ltd Tissue aberration corrections in ultrasound therapy
US20040122316A1 (en) 2002-09-30 2004-06-24 Fuji Photo Film Co., Ltd. Ultrasonic transmitting and receiving apparatus and ultrasonic transmitting and receiving method
US6761691B2 (en) 2000-07-21 2004-07-13 Fuji Photo Film Co., Ltd. Image forming method used in ultrasonic diagnosis, ultrasonic diagnostic apparatus, signal processing apparatus, and recording medium for recording signal processing program
US20040143187A1 (en) 2002-11-22 2004-07-22 Elena Biagi Ultrasound image focusing method and relative ultrasound system
US6770039B2 (en) 2001-11-09 2004-08-03 Duke University Method to reduce tissue injury in shock wave lithotripsy
US6770031B2 (en) 2000-12-15 2004-08-03 Brigham And Women's Hospital, Inc. Ultrasound therapy
US6788619B2 (en) 2001-09-07 2004-09-07 Shell Oil Company Concentrating seismic energy in a selected target point in an underground formation
US6790180B2 (en) 2001-12-03 2004-09-14 Insightec-Txsonics Ltd. Apparatus, systems, and methods for measuring power output of an ultrasound transducer
US20040210134A1 (en) 2003-04-17 2004-10-21 Kullervo Hynynen Shear mode therapeutic ultrasound
US20040210135A1 (en) 2003-04-17 2004-10-21 Kullervo Hynynen Shear mode diagnostic ultrasound
US20040236253A1 (en) 2003-05-22 2004-11-25 Insightec-Image Guided Treatment Ltd. Acoustic beam forming in phased arrays including large numbers of transducer elements
US6824516B2 (en) 2002-03-11 2004-11-30 Medsci Technologies, Inc. System for examining, mapping, diagnosing, and treating diseases of the prostate
US20040267126A1 (en) 2003-06-25 2004-12-30 Aloka Co., Ltd. Ultrasound diagnosis apparatus
US20050033201A1 (en) 2003-08-07 2005-02-10 Olympus Corporation Ultrasonic surgical system
US20050131301A1 (en) 2003-12-12 2005-06-16 Michael Peszynski Ultrasound probe receptacle
WO2005058029A2 (en) 2003-12-17 2005-06-30 Mentor Graphics Corporation Mask creation with hierarchy management using cover cells
US20050203444A1 (en) 2002-10-25 2005-09-15 Compex Medical S.A. Ultrasound therapeutic device
US6961606B2 (en) 2001-10-19 2005-11-01 Koninklijke Philips Electronics N.V. Multimodality medical imaging system and method with separable detector devices
EP1591073A1 (en) 2003-01-31 2005-11-02 Hitachi Medical Corporation Ultrasonic probe and ultrasonic device
US20050251046A1 (en) 2004-03-29 2005-11-10 Yuko Yamamoto Probe array producing method
US7001379B2 (en) 1999-06-25 2006-02-21 Boston Scientific Scimed, Inc. Method and system for heating solid tissue
WO2006018837A2 (en) 2004-08-17 2006-02-23 Technion Research & Development Foundation Ltd. Ultrasonic image-guided tissue-damaging procedure
WO2006025001A1 (en) 2004-09-01 2006-03-09 Koninklijke Philips Electronics, N.V. Magnetic resonance marker based position and orientation probe
US20060052661A1 (en) 2003-01-23 2006-03-09 Ramot At Tel Aviv University Ltd. Minimally invasive control surgical system with feedback
US20060052701A1 (en) 1998-09-18 2006-03-09 University Of Washington Treatment of unwanted tissue by the selective destruction of vasculature providing nutrients to the tissue
US20060052706A1 (en) 2004-08-20 2006-03-09 Kullervo Hynynen Phased array ultrasound for cardiac ablation
US20060058678A1 (en) * 2004-08-26 2006-03-16 Insightec - Image Guided Treatment Ltd. Focused ultrasound system for surrounding a body tissue mass
US20060106300A1 (en) 2003-04-24 2006-05-18 Universiteit Utrecht Holding B.V. Selective MR imaging of magnetic susceptibility deviations
US7077820B1 (en) 2002-10-21 2006-07-18 Advanced Medical Optics, Inc. Enhanced microburst ultrasonic power delivery system and method
US20060173385A1 (en) 2003-06-04 2006-08-03 Lars Lidgren Ultrasound probe having a central opening
US20060184034A1 (en) 2005-01-27 2006-08-17 Ronen Haim Ultrasonic probe with an integrated display, tracking and pointing devices
US20060184069A1 (en) 2005-02-02 2006-08-17 Vaitekunas Jeffrey J Focused ultrasound for pain reduction
US7094205B2 (en) 2001-04-06 2006-08-22 Alfred E. Mann Institute For Biomedical Engineering At The University Of Southern California High-resolution 3D ultrasonic transmission imaging
WO2006087649A1 (en) 2005-02-17 2006-08-24 Koninklijke Philips Electronics, N.V. Method and apparatus for the visualization of the focus generated using focused ultrasound
US20060206105A1 (en) 2005-03-09 2006-09-14 Rajiv Chopra Treatment of diseased tissue using controlled ultrasonic heating
US20060229594A1 (en) 2000-01-19 2006-10-12 Medtronic, Inc. Method for guiding a medical device
US7128711B2 (en) 2002-03-25 2006-10-31 Insightec, Ltd. Positioning systems and methods for guided ultrasound therapy systems
WO2006119572A1 (en) 2005-05-12 2006-11-16 Compumedics Medical Innovation Pty Ltd Ultrasound diagnosis and treatment apparatus
US7155271B2 (en) 1998-11-04 2006-12-26 Johns Hopkins University School Of Medicine System and method for magnetic-resonance-guided electrophysiologic and ablation procedures
US20070016039A1 (en) 2005-06-21 2007-01-18 Insightec-Image Guided Treatment Ltd. Controlled, non-linear focused ultrasound treatment
US7175596B2 (en) 2001-10-29 2007-02-13 Insightec-Txsonics Ltd System and method for sensing and locating disturbances in an energy path of a focused ultrasound system
US20070055140A1 (en) 2003-07-11 2007-03-08 Kagayaki Kuroda Self-referencing/body motion tracking non-invasive internal temperature distribution measurement method and apparatus using magnetic resonance tomographic imaging technique
US20070066897A1 (en) 2005-07-13 2007-03-22 Sekins K M Systems and methods for performing acoustic hemostasis of deep bleeding trauma in limbs
US20070073135A1 (en) 2005-09-13 2007-03-29 Warren Lee Integrated ultrasound imaging and ablation probe
EP1774920A1 (en) 2004-06-21 2007-04-18 Hiroshi Furuhata Ultrasonic brain infarction treating device
US20070098232A1 (en) 2005-09-14 2007-05-03 University Of Washington Using optical scattering to measure properties of ultrasound contrast agent shells
EP1790384A1 (en) 2005-11-23 2007-05-30 Siemens Medical Solutions USA, Inc. Contrast agent augmented ultrasound therapy system with ultrasound imaging guidance for thrombus treatment
WO2007073551A1 (en) 2005-12-22 2007-06-28 Boston Scientific Scimed, Inc. Device and method for determining the location of a vascular opening prior to application of hifu energy to seal the opening
US20070167781A1 (en) 2005-11-23 2007-07-19 Insightec Ltd. Hierarchical Switching in Ultra-High Density Ultrasound Array
US20070197918A1 (en) 2003-06-02 2007-08-23 Insightec - Image Guided Treatment Ltd. Endo-cavity focused ultrasound transducer
US7264592B2 (en) 2002-06-28 2007-09-04 Alfred E. Mann Institute For Biomedical Engineering At The University Of Southern California Scanning devices for three-dimensional ultrasound mammography
US7264597B2 (en) 2001-10-04 2007-09-04 Institut National De La Sante Et De Lacrecherchedmedicale Device and method for producing high-pressure ultrasonic pulses
US7267650B2 (en) 2002-12-16 2007-09-11 Cardiac Pacemakers, Inc. Ultrasound directed guiding catheter system and method
US20070219470A1 (en) 2006-03-08 2007-09-20 Talish Roger J System and method for providing therapeutic treatment using a combination of ultrasound, electro-stimulation and vibrational stimulation
US20070239062A1 (en) 2005-03-09 2007-10-11 Rajiv Chopra Method and apparatus for obtaining quantitative temperature measurements in prostate and other tissue undergoing thermal therapy treatment
WO2007051066A3 (en) 2005-10-26 2007-11-08 Skyline Biomedical Inc Apparatus and method for non-invasive and minimally-invasive sensing of parameters relating to blood
US20080027342A1 (en) 2006-07-28 2008-01-31 Mattias Rouw Prioritized Multicomplexor Sensing Circuit
US20080033278A1 (en) 2006-08-01 2008-02-07 Insightec Ltd. System and method for tracking medical device using magnetic resonance detection
US20080031090A1 (en) 2006-08-01 2008-02-07 Insightec, Ltd Transducer surface mapping
WO2008039449A1 (en) 2006-09-27 2008-04-03 Siemens Medical Solutions Usa, Inc. Automated contrast agent augmented ultrasound therapy for thrombus treatment
US20080082026A1 (en) 2006-04-26 2008-04-03 Rita Schmidt Focused ultrasound system with far field tail suppression
WO2008050278A1 (en) 2006-10-23 2008-05-02 Koninklijke Philips Electronics, N.V. Symmetric and preferentially steered random arrays for ultrasound therapy
US20080108900A1 (en) 2006-09-29 2008-05-08 Chih-Kung Lee Ultrasound transducer apparatus
US20080125660A1 (en) 2006-11-28 2008-05-29 Shenzhen Mindray Bio-Medical Electronics Co., Ltd Method and device for transmission of wide-beam in an ultrasonic diagnostic system
WO2008075203A2 (en) 2006-06-21 2008-06-26 Martinswerk Gmbh Process for the production of aluminum hydroxide
US20080183077A1 (en) 2006-10-19 2008-07-31 Siemens Corporate Research, Inc. High intensity focused ultrasound path determination
US20080228081A1 (en) 2004-04-02 2008-09-18 Koninklijke Philips Electronics, N.V. Ultrasonic Intracavity Probe For 3D Imaging
WO2008119054A1 (en) 2007-03-27 2008-10-02 Abqmr, Inc. System and method for detecting labeled entities using microcoil magnetic mri
US7452357B2 (en) 2004-10-22 2008-11-18 Ethicon Endo-Surgery, Inc. System and method for planning treatment of tissue
EP1936404B1 (en) 2006-12-18 2008-12-10 Aloka Co., Ltd. Ultrasound diagnosis apparatus
US20080312562A1 (en) 2005-12-14 2008-12-18 Koninklijke Philips Electronics, N.V. Method and Apparatus for Guidance and Application of High Intensity Focused Ultrasound for Control of Bleeding Due to Severed Limbs
US7505808B2 (en) 2004-04-28 2009-03-17 Sunnybrook Health Sciences Centre Catheter tracking with phase information
US7507213B2 (en) 2004-03-16 2009-03-24 General Patent Llc Pressure pulse/shock wave therapy methods for organs
US7511501B2 (en) 2007-05-11 2009-03-31 General Electric Company Systems and apparatus for monitoring internal temperature of a gradient coil
US7510536B2 (en) 1999-09-17 2009-03-31 University Of Washington Ultrasound guided high intensity focused ultrasound treatment of nerves
US20090088623A1 (en) 2007-10-01 2009-04-02 Insightec, Ltd. Motion compensated image-guided focused ultrasound therapy system
WO2009055587A1 (en) 2007-10-23 2009-04-30 Abqmr, Inc. Microcoil magnetic resonance detectors
US20090118619A1 (en) 2006-02-23 2009-05-07 Mitsuhiro Oshiki Ultrasonic diagnostic apparatus and ultrasonic diagnostic method
WO2009081339A1 (en) 2007-12-21 2009-07-02 Koninklijke Philips Electronics, N.V. Systems and methods for tracking and guiding high intensity focused ultrasound beams
WO2009094554A2 (en) 2008-01-25 2009-07-30 The Regents Of The University Of Michigan Histotripsy for thrombolysis
US7603162B2 (en) 2004-01-28 2009-10-13 Siemens Aktiengesellschaft Imaging tomography apparatus with fluid-containing chambers forming out-of-balance compensating weights for a rotating part
US7652410B2 (en) 2006-08-01 2010-01-26 Insightec Ltd Ultrasound transducer with non-uniform elements
US20100030076A1 (en) 2006-08-01 2010-02-04 Kobi Vortman Systems and Methods for Simultaneously Treating Multiple Target Sites
US7699780B2 (en) 2004-08-11 2010-04-20 Insightec—Image-Guided Treatment Ltd. Focused ultrasound system with adaptive anatomical aperture shaping
US20100125193A1 (en) 2008-11-19 2010-05-20 Eyal Zadicario Closed-Loop Clot Lysis
US20100179425A1 (en) 2009-01-13 2010-07-15 Eyal Zadicario Systems and methods for controlling ultrasound energy transmitted through non-uniform tissue and cooling of same
US20100268088A1 (en) 2009-04-17 2010-10-21 Oleg Prus Multimode ultrasound focusing for medical applications
WO2010143072A1 (en) 2009-06-10 2010-12-16 Insightec Ltd. Acoustic-feedback power control during focused ultrasound delivery
WO2011024074A2 (en) 2009-08-26 2011-03-03 Insightec Ltd. Asymmetric phased-array ultrasound transducer
US20110094288A1 (en) 2009-10-14 2011-04-28 Yoav Medan Mapping ultrasound transducers

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1861015A1 (en) * 2005-03-11 2007-12-05 Koninklijke Philips Electronics N.V. Microbubble generating technique for phase aberration correction
TW201117446A (en) * 2009-11-12 2011-05-16 Nat Univ Tsing Hua Method for forming organic layer of electronic device by contact printing

Patent Citations (296)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2795709A (en) 1953-12-21 1957-06-11 Bendix Aviat Corp Electroplated ceramic rings
US3142035A (en) 1960-02-04 1964-07-21 Harris Transducer Corp Ring-shaped transducer
US4000493A (en) 1971-04-12 1976-12-28 Eastman Kodak Company Acoustooptic scanner apparatus and method
US3974475A (en) 1971-10-07 1976-08-10 Hoffmann-La Roche Inc. Method of and apparatus for focusing ultrasonic waves in a focal line
US3992693A (en) 1972-12-04 1976-11-16 The Bendix Corporation Underwater transducer and projector therefor
US4074564A (en) 1974-04-25 1978-02-21 Varian Associates, Inc. Reconstruction system and method for ultrasonic imaging
US3942150A (en) 1974-08-12 1976-03-02 The United States Of America As Represented By The Secretary Of The Navy Correction of spatial non-uniformities in sonar, radar, and holographic acoustic imaging systems
US4206653A (en) 1975-10-02 1980-06-10 E M I Limited Ultrasonic apparatus
US4211132A (en) 1977-11-21 1980-07-08 E. I. Du Pont De Nemours And Company Apparatus for on-line defect zoning
US4339952A (en) 1979-04-26 1982-07-20 Ontario Cancer Institute Cylindrical transducer ultrasonic scanner
US4307613A (en) 1979-06-14 1981-12-29 University Of Connecticut Electronically focused ultrasonic transmitter
US4526168A (en) 1981-05-14 1985-07-02 Siemens Aktiengesellschaft Apparatus for destroying calculi in body cavities
US4454597A (en) 1982-05-03 1984-06-12 The United States Of America As Represented By The Secretary Of The Navy Conformal array compensating beamformer
US4478083A (en) 1982-06-30 1984-10-23 Siemens Aktiengesellschaft Plane reconstruction ultrasound tomography device
US4554925A (en) 1982-07-07 1985-11-26 Picker International, Ltd. Nuclear magnetic resonance imaging method
US4858597A (en) 1983-06-01 1989-08-22 Richard Wolf Gmbh Piezoelectric transducer for the destruction of concretions within an animal body
US4505156A (en) 1983-06-21 1985-03-19 Sound Products Company L.P. Method and apparatus for switching multi-element transducer arrays
US4537074A (en) 1983-09-12 1985-08-27 Technicare Corporation Annular array ultrasonic transducers
US4549533A (en) 1984-01-30 1985-10-29 University Of Illinois Apparatus and method for generating and directing ultrasound
US4662222A (en) 1984-12-21 1987-05-05 Johnson Steven A Apparatus and method for acoustic imaging using inverse scattering techniques
US4865042A (en) 1985-08-16 1989-09-12 Hitachi, Ltd. Ultrasonic irradiation system
US4889122A (en) 1985-11-29 1989-12-26 Aberdeen University Divergent ultrasound arrays
US4817614A (en) 1986-08-20 1989-04-04 Siemens Aktiengesellschaft Method and apparatus for adaptive focusing in a medical ultrasound imaging apparatus
US4937767A (en) 1986-12-24 1990-06-26 Hewlett-Packard Company Method and apparatus for adjusting the intensity profile of an ultrasound beam
US4888746A (en) 1987-09-24 1989-12-19 Richard Wolf Gmbh Focussing ultrasound transducer
EP0320303B1 (en) 1987-12-11 1993-10-27 General Electric Company Coherent beam formation
US5209221A (en) 1988-03-01 1993-05-11 Richard Wolf Gmbh Ultrasonic treatment of pathological tissue
US4893284A (en) 1988-05-27 1990-01-09 General Electric Company Calibration of phased array ultrasound probe
US4893624A (en) 1988-06-21 1990-01-16 Massachusetts Institute Of Technology Diffuse focus ultrasound hyperthermia system
US5197475A (en) 1988-08-10 1993-03-30 The Board Of Regents, The University Of Texas System Method and apparatus for analyzing material properties using ultrasound
US5211160A (en) 1988-09-14 1993-05-18 Interpore Orthopaedics, Inc. Ultrasonic orthopedic treatment head and body-mounting means therefor
WO1991000059A1 (en) 1989-07-03 1991-01-10 Institut National De La Sante Et De La Recherche Medicale Equipment for obtaining medical, pharmacological or other data by nuclear and echographic magnetic resonance
US5474071A (en) 1991-03-05 1995-12-12 Technomed Medical Systems Therapeutic endo-rectal probe and apparatus constituting an application thereof for destroying cancer tissue, in particular of the prostate, and preferably in combination with an imaging endo-cavitary-probe
US5666954A (en) 1991-03-05 1997-09-16 Technomed Medical Systems Inserm-Institut National De La Sante Et De La Recherche Medicale Therapeutic endo-rectal probe, and apparatus constituting an application thereof for destroying cancer tissue, in particular of the prostate, and preferably in combination with an imaging endo-cavitary-probe
US5435312A (en) 1991-05-31 1995-07-25 Spivey; Brett A. Acoustic imaging device
US5307816A (en) 1991-08-21 1994-05-03 Kabushiki Kaisha Toshiba Thrombus resolving treatment apparatus
US5291890A (en) 1991-08-29 1994-03-08 General Electric Company Magnetic resonance surgery using heat waves produced with focussed ultrasound
JPH0592008A (en) 1991-10-03 1993-04-16 Toshiba Corp Impulse wave medical treatment device
US5601526A (en) 1991-12-20 1997-02-11 Technomed Medical Systems Ultrasound therapy apparatus delivering ultrasound waves having thermal and cavitation effects
EP0558029B1 (en) 1992-02-28 2002-12-04 Kabushiki Kaisha Toshiba Apparatus for ultrasonic wave medical treatment using computed tomography
US5485839A (en) 1992-02-28 1996-01-23 Kabushiki Kaisha Toshiba Method and apparatus for ultrasonic wave medical treatment using computed tomography
JPH11313833A (en) 1992-02-28 1999-11-16 Toshiba Corp Ultrasonic therapeutic device
US5759162A (en) 1992-03-10 1998-06-02 Siemens Aktiengesellschaft Method and apparatus for ultrasound tissue therapy
US5247935A (en) 1992-03-19 1993-09-28 General Electric Company Magnetic resonance guided focussed ultrasound surgery
US5318025A (en) 1992-04-01 1994-06-07 General Electric Company Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection
US5271400A (en) 1992-04-01 1993-12-21 General Electric Company Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device
DE4345308C2 (en) 1992-07-15 2001-02-01 Fukuda Denshi Kk Medical ultrasonic diagnosis system
US5275165A (en) 1992-11-06 1994-01-04 General Electric Company Magnetic resonance guided ultrasound therapy system with inclined track to move transducers in a small vertical space
US5743863A (en) 1993-01-22 1998-04-28 Technomed Medical Systems And Institut National High-intensity ultrasound therapy method and apparatus with controlled cavitation effect and reduced side lobes
US5391140A (en) 1993-01-29 1995-02-21 Siemens Aktiengesellschaft Therapy apparatus for locating and treating a zone in the body of a life form with acoustic waves
US5590653A (en) 1993-03-10 1997-01-07 Kabushiki Kaisha Toshiba Ultrasonic wave medical treatment apparatus suitable for use under guidance of magnetic resonance imaging
US5897495A (en) 1993-03-10 1999-04-27 Kabushiki Kaisha Toshiba Ultrasonic wave medical treatment apparatus suitable for use under guidance of magnetic resonance imaging
US5553618A (en) 1993-03-12 1996-09-10 Kabushiki Kaisha Toshiba Method and apparatus for ultrasound medical treatment
US5722411A (en) 1993-03-12 1998-03-03 Kabushiki Kaisha Toshiba Ultrasound medical treatment apparatus with reduction of noise due to treatment ultrasound irradiation at ultrasound imaging device
US5327884A (en) 1993-03-26 1994-07-12 General Electric Company Heat surgery system monitored by real-time magnetic resonance temperature profiling
US5323779A (en) 1993-03-26 1994-06-28 General Electric Company Heat surgery system monitored by real-time magnetic resonance temperature profiling
US5307812A (en) 1993-03-26 1994-05-03 General Electric Company Heat surgery system monitored by real-time magnetic resonance profiling
US6004269A (en) 1993-07-01 1999-12-21 Boston Scientific Corporation Catheters for imaging, sensing electrical potentials, and ablating tissue
US5379642A (en) 1993-07-19 1995-01-10 Diasonics Ultrasound, Inc. Method and apparatus for performing imaging
US5413550A (en) 1993-07-21 1995-05-09 Pti, Inc. Ultrasound therapy system with automatic dose control
US5368031A (en) 1993-08-29 1994-11-29 General Electric Company Magnetic resonance surgery using heat waves produced with a laser fiber
US5329930A (en) 1993-10-12 1994-07-19 General Electric Company Phased array sector scanner with multiplexed acoustic transducer elements
US5368032A (en) 1993-11-09 1994-11-29 General Electric Company Manually positioned focussed energy system guided by medical imaging
US5526814A (en) 1993-11-09 1996-06-18 General Electric Company Automatically positioned focussed energy system guided by medical imaging
WO1995014505A1 (en) 1993-11-24 1995-06-01 Massachusetts Institute Of Technology Minimally invasive monopole phased array hyperthermia applicators for treating breast carcinomas
JPH07184907A (en) 1993-12-28 1995-07-25 Toshiba Corp Ultrasonic treating device
US5643179A (en) 1993-12-28 1997-07-01 Kabushiki Kaisha Toshiba Method and apparatus for ultrasonic medical treatment with optimum ultrasonic irradiation control
US5665054A (en) 1994-01-27 1997-09-09 Technomed Medical Systems S.A. Control method for hyperthermia treatment apparatus using ultrasound
JPH07231895A (en) 1994-02-23 1995-09-05 Toshiba Corp Ultrasonic therapeutic device
US5507790A (en) 1994-03-21 1996-04-16 Weiss; William V. Method of non-invasive reduction of human site-specific subcutaneous fat tissue deposits by accelerated lipolysis metabolism
US5739625A (en) 1994-05-09 1998-04-14 The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Island Segmented ring transducers
US5549638A (en) 1994-05-17 1996-08-27 Burdette; Everette C. Ultrasound device for use in a thermotherapy apparatus
JPH07313518A (en) 1994-05-25 1995-12-05 Toshiba Corp Ultrasonic therapeutic device
US5687729A (en) 1994-06-22 1997-11-18 Siemens Aktiengesellschaft Source of therapeutic acoustic waves introducible into the body of a patient
US5676673A (en) 1994-09-15 1997-10-14 Visualization Technology, Inc. Position tracking and imaging system with error detection for use in medical applications
US5694936A (en) 1994-09-17 1997-12-09 Kabushiki Kaisha Toshiba Ultrasonic apparatus for thermotherapy with variable frequency for suppressing cavitation
US5490840A (en) 1994-09-26 1996-02-13 General Electric Company Targeted thermal release of drug-polymer conjugates
US5443068A (en) 1994-09-26 1995-08-22 General Electric Company Mechanical positioner for magnetic resonance guided ultrasound therapy
US5520188A (en) 1994-11-02 1996-05-28 Focus Surgery Inc. Annular array transducer
US5662170A (en) 1994-11-22 1997-09-02 Baker Hughes Incorporated Method of drilling and completing wells
US5573497A (en) 1994-11-30 1996-11-12 Technomed Medical Systems And Institut National High-intensity ultrasound therapy method and apparatus with controlled cavitation effect and reduced side lobes
US5520612A (en) 1994-12-30 1996-05-28 Exogen, Inc. Acoustic system for bone-fracture therapy
US5617371A (en) 1995-02-08 1997-04-01 Diagnostic/Retrieval Systems, Inc. Method and apparatus for accurately determing the location of signal transducers in a passive sonar or other transducer array system
US5938608A (en) 1995-03-03 1999-08-17 Siemens Aktiengesellschaft Therapy apparatus for carrying out treatment with focused ultrasound
US5984881A (en) 1995-03-31 1999-11-16 Kabushiki Kaisha Toshiba Ultrasound therapeutic apparatus using a therapeutic ultrasonic wave source and an ultrasonic probe
US6267734B1 (en) 1995-03-31 2001-07-31 Kabushiki Kaisha Toshiba Ultrasound therapeutic apparatus
US6334846B1 (en) 1995-03-31 2002-01-01 Kabushiki Kaisha Toshiba Ultrasound therapeutic apparatus
US5605154A (en) 1995-06-06 1997-02-25 Duke University Two-dimensional phase correction using a deformable ultrasonic transducer array
US5617857A (en) 1995-06-06 1997-04-08 Image Guided Technologies, Inc. Imaging system having interactive medical instruments and methods
US5582578A (en) 1995-08-01 1996-12-10 Duke University Method for the comminution of concretions
US5711300A (en) 1995-08-16 1998-01-27 General Electric Company Real time in vivo measurement of temperature changes with NMR imaging
US5590657A (en) 1995-11-06 1997-01-07 The Regents Of The University Of Michigan Phased array ultrasound system and method for cardiac ablation
US5606971A (en) 1995-11-13 1997-03-04 Artann Corporation, A Nj Corp. Method and device for shear wave elasticity imaging
US5810731A (en) 1995-11-13 1998-09-22 Artann Laboratories Method and apparatus for elasticity imaging using remotely induced shear wave
US5728062A (en) 1995-11-30 1998-03-17 Pharmasonics, Inc. Apparatus and methods for vibratory intraluminal therapy employing magnetostrictive transducers
US5938600A (en) 1995-12-14 1999-08-17 U.S. Philips Corporation Method and device for heating by means of ultrasound
US5762616A (en) 1996-03-15 1998-06-09 Exogen, Inc. Apparatus for ultrasonic treatment of sites corresponding to the torso
US5752515A (en) 1996-08-21 1998-05-19 Brigham & Women's Hospital Methods and apparatus for image-guided ultrasound delivery of compounds through the blood-brain barrier
US5769790A (en) 1996-10-25 1998-06-23 General Electric Company Focused ultrasound surgery system guided by ultrasound imaging
US5784336A (en) * 1996-11-18 1998-07-21 Furuno Diagnostics America, Inc. Delay scheme and apparatus for focussing the transmission and reception of a summed ultrasonic beam
US5810008A (en) 1996-12-03 1998-09-22 Isg Technologies Inc. Apparatus and method for visualizing ultrasonic images
US20020188229A1 (en) 1997-02-06 2002-12-12 Ryaby John P. Method and apparatus for cartilage growth stimulation
US5904659A (en) 1997-02-14 1999-05-18 Exogen, Inc. Ultrasonic treatment for wounds
US20020016557A1 (en) 1997-02-14 2002-02-07 Duarte Luiz R. Ultrasonic treatment for wounds
US5873845A (en) 1997-03-17 1999-02-23 General Electric Company Ultrasound transducer with focused ultrasound refraction plate
US6322527B1 (en) 1997-04-18 2001-11-27 Exogen, Inc. Apparatus for ultrasonic bone treatment
US6263230B1 (en) 1997-05-08 2001-07-17 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
US6128522A (en) 1997-05-23 2000-10-03 Transurgical, Inc. MRI-guided therapeutic unit and methods
WO1998052465A1 (en) 1997-05-23 1998-11-26 Transurgical, Inc. Mri-guided therapeutic unit and methods
US6374132B1 (en) 1997-05-23 2002-04-16 Transurgical, Inc. MRI-guided therapeutic unit and methods
US6023636A (en) 1997-06-25 2000-02-08 Siemens Aktiengesellschaft Magnetic resonance apparatus and method for determining the location of a positionable object in a subject
US20030060820A1 (en) 1997-07-08 2003-03-27 Maguire Mark A. Tissue ablation device assembly and method for electrically isolating a pulmonary vein ostium from an atrial wall
US6193659B1 (en) 1997-07-15 2001-02-27 Acuson Corporation Medical ultrasonic diagnostic imaging method and apparatus
US6128958A (en) 1997-09-11 2000-10-10 The Regents Of The University Of Michigan Phased array system architecture
US6071239A (en) 1997-10-27 2000-06-06 Cribbs; Robert W. Method and apparatus for lipolytic therapy using ultrasound energy
US6113559A (en) 1997-12-29 2000-09-05 Klopotek; Peter J. Method and apparatus for therapeutic treatment of skin with ultrasound
US6397094B1 (en) 1998-01-09 2002-05-28 Koninklijke Philips Electronics N.V. MR method utilizing microcoils situated in the examination zone
US5947900A (en) 1998-04-13 1999-09-07 General Electric Company Dynamic scan plane tracking using MR position monitoring
US6135960A (en) 1998-08-31 2000-10-24 Holmberg; Linda Jean High-resolution, three-dimensional whole body ultrasound imaging system
US6042556A (en) 1998-09-04 2000-03-28 University Of Washington Method for determining phase advancement of transducer elements in high intensity focused ultrasound
US20060052701A1 (en) 1998-09-18 2006-03-09 University Of Washington Treatment of unwanted tissue by the selective destruction of vasculature providing nutrients to the tissue
US6425867B1 (en) 1998-09-18 2002-07-30 University Of Washington Noise-free real time ultrasonic imaging of a treatment site undergoing high intensity focused ultrasound therapy
EP1132054A1 (en) 1998-10-26 2001-09-12 Hitachi, Ltd. Ultrasonic medical treating device
US6511428B1 (en) 1998-10-26 2003-01-28 Hitachi, Ltd. Ultrasonic medical treating device
US7155271B2 (en) 1998-11-04 2006-12-26 Johns Hopkins University School Of Medicine System and method for magnetic-resonance-guided electrophysiologic and ablation procedures
US6433464B2 (en) 1998-11-20 2002-08-13 Joie P. Jones Apparatus for selectively dissolving and removing material using ultra-high frequency ultrasound
US6246896B1 (en) 1998-11-24 2001-06-12 General Electric Company MRI guided ablation system
US6289233B1 (en) 1998-11-25 2001-09-11 General Electric Company High speed tracking of interventional devices using an MRI system
WO2000031614A1 (en) 1998-11-25 2000-06-02 Flashpoint Technology, Inc. Digital image capture devices and methods and systems associated therewith
US6424597B1 (en) 1998-11-27 2002-07-23 Commissariat A L'energie Atomique Multielements ultrasonic contact transducer
US6413216B1 (en) 1998-12-22 2002-07-02 The Regents Of The University Of Michigan Method and assembly for performing ultrasound surgery using cavitation
US6309355B1 (en) 1998-12-22 2001-10-30 The Regents Of The University Of Michigan Method and assembly for performing ultrasound surgery using cavitation
US6428532B1 (en) 1998-12-30 2002-08-06 The General Hospital Corporation Selective tissue targeting by difference frequency of two wavelengths
US6461314B1 (en) 1999-02-02 2002-10-08 Transurgical, Inc. Intrabody hifu applicator
US20030004439A1 (en) 1999-02-02 2003-01-02 Transurgical, Inc. Intrabody HIFU applicator
US6652461B1 (en) 1999-04-15 2003-11-25 F.R.A.Y Project Ltd. Ultrasound device for three-dimensional imaging of internal structure of a body part
US6217530B1 (en) 1999-05-14 2001-04-17 University Of Washington Ultrasonic applicator for medical applications
US6676601B1 (en) 1999-05-26 2004-01-13 Technomed Medical Systems, S.A. Apparatus and method for location and treatment using ultrasound
US7001379B2 (en) 1999-06-25 2006-02-21 Boston Scientific Scimed, Inc. Method and system for heating solid tissue
US6317619B1 (en) 1999-07-29 2001-11-13 U.S. Philips Corporation Apparatus, methods, and devices for magnetic resonance imaging controlled by the position of a moveable RF coil
US6242915B1 (en) 1999-08-27 2001-06-05 General Electric Company Field-frequency lock system for magnetic resonance system
US6566878B1 (en) 1999-09-09 2003-05-20 Hitachi Medical Corporation Magnetic resonance imaging device and method therefor
US6599256B1 (en) 1999-09-10 2003-07-29 Transurgical, Inc. Occlusion of tubular anatomical structures by energy application
US7510536B2 (en) 1999-09-17 2009-03-31 University Of Washington Ultrasound guided high intensity focused ultrasound treatment of nerves
US6524251B2 (en) 1999-10-05 2003-02-25 Omnisonics Medical Technologies, Inc. Ultrasonic device for tissue ablation and sheath for use therewith
US6626855B1 (en) 1999-11-26 2003-09-30 Therus Corpoation Controlled high efficiency lesion formation using high intensity ultrasound
US6618608B1 (en) 1999-11-30 2003-09-09 Txsonics, Ltd. Thermal imaging of fat and muscle using a simultaneous phase and magnitude double echo sequence
US20010031922A1 (en) 1999-12-23 2001-10-18 Therus Corporation Ultrasound transducers for imaging and therapy
US20050096542A1 (en) 1999-12-23 2005-05-05 Lee Weng Ultrasound transducers for imaging and therapy
US6719694B2 (en) 1999-12-23 2004-04-13 Therus Corporation Ultrasound transducers for imaging and therapy
US20060229594A1 (en) 2000-01-19 2006-10-12 Medtronic, Inc. Method for guiding a medical device
WO2001058337A3 (en) 2000-02-09 2002-06-13 Spencer Technologies Inc Method and apparatus combining diagnostic ultrasound with therapeutic ultrasound to enhance thrombolysis
WO2001066189A1 (en) 2000-03-09 2001-09-13 Transurgical, Inc. Hifu application with feedback control using bubble detection
FR2806611A1 (en) 2000-03-22 2001-09-28 Hossein Kafai Medical ultrasonic imaging device for examination of jaw region uses ultrasonic probes arranged on either side of face
US6419648B1 (en) 2000-04-21 2002-07-16 Insightec-Txsonics Ltd. Systems and methods for reducing secondary hot spots in a phased array focused ultrasound system
WO2001080709A2 (en) 2000-04-21 2001-11-01 Txsonics Ltd. Systems and methods for creating longer necrosed volumes using a phased array focused ultrasound system
US6613004B1 (en) 2000-04-21 2003-09-02 Insightec-Txsonics, Ltd. Systems and methods for creating longer necrosed volumes using a phased array focused ultrasound system
US6392330B1 (en) 2000-06-05 2002-05-21 Pegasus Technologies Ltd. Cylindrical ultrasound receivers and transceivers formed from piezoelectric film
US20020035779A1 (en) 2000-06-09 2002-03-28 Robert Krieg Method for three-dimensionally correcting distortions and magnetic resonance apparatus for implementing the method
US6761691B2 (en) 2000-07-21 2004-07-13 Fuji Photo Film Co., Ltd. Image forming method used in ultrasonic diagnosis, ultrasonic diagnostic apparatus, signal processing apparatus, and recording medium for recording signal processing program
US6733450B1 (en) 2000-07-27 2004-05-11 Texas Systems, Board Of Regents Therapeutic methods and apparatus for use of sonication to enhance perfusion of tissue
US6506171B1 (en) 2000-07-27 2003-01-14 Insightec-Txsonics, Ltd System and methods for controlling distribution of acoustic energy around a focal point using a focused ultrasound system
US6582381B1 (en) 2000-07-31 2003-06-24 Txsonics Ltd. Mechanical positioner for MRI guided ultrasound therapy system
US20020111552A1 (en) * 2000-08-29 2002-08-15 Dov Maor Ultrasound therapy
US6612988B2 (en) 2000-08-29 2003-09-02 Brigham And Women's Hospital, Inc. Ultrasound therapy
US20020161300A1 (en) 2000-10-19 2002-10-31 Lars Hoff Ultrasound measurement techniques for bone analysis
US6679855B2 (en) 2000-11-07 2004-01-20 Gerald Horn Method and apparatus for the correction of presbyopia using high intensity focused ultrasound
WO2002043805A1 (en) 2000-11-28 2002-06-06 Insightec-Txsonics Ltd. System for steering a focused ultrasund array
US6666833B1 (en) 2000-11-28 2003-12-23 Insightec-Txsonics Ltd Systems and methods for focussing an acoustic energy beam transmitted through non-uniform tissue medium
US6613005B1 (en) 2000-11-28 2003-09-02 Insightec-Txsonics, Ltd. Systems and methods for steering a focused ultrasound array
WO2002044753A3 (en) 2000-11-28 2002-10-17 Insightec Txsonics Ltd Systems and methods for focussing an acoustic energy beam transmitted through non-uniform tissue medium
US6506154B1 (en) 2000-11-28 2003-01-14 Insightec-Txsonics, Ltd. Systems and methods for controlling a phased array focused ultrasound system
US6618620B1 (en) 2000-11-28 2003-09-09 Txsonics Ltd. Apparatus for controlling thermal dosing in an thermal treatment system
US20020095087A1 (en) 2000-11-28 2002-07-18 Mourad Pierre D. Systems and methods for making noninvasive physiological assessments
US6475150B2 (en) 2000-12-01 2002-11-05 The Regents Of The University Of California System and method for ultrasonic tomography
US6770031B2 (en) 2000-12-15 2004-08-03 Brigham And Women's Hospital, Inc. Ultrasound therapy
WO2002058791A1 (en) 2000-12-15 2002-08-01 The Brigham And Women's Hospital, Inc. Method and system for calculating phase and amplitude corrections in ultrasound therapy
US6645162B2 (en) 2000-12-27 2003-11-11 Insightec - Txsonics Ltd. Systems and methods for ultrasound assisted lipolysis
US20020082589A1 (en) 2000-12-27 2002-06-27 Insightec - Image Guided Treatement Ltd. Systems and methods for ultrasound assisted lipolysis
US6626854B2 (en) 2000-12-27 2003-09-30 Insightec - Txsonics Ltd. Systems and methods for ultrasound assisted lipolysis
US20040068186A1 (en) 2001-01-22 2004-04-08 Kazunari Ishida Ultrasonic therapeutic probe and ultrasonic device
US7094205B2 (en) 2001-04-06 2006-08-22 Alfred E. Mann Institute For Biomedical Engineering At The University Of Southern California High-resolution 3D ultrasonic transmission imaging
US6478739B1 (en) 2001-05-11 2002-11-12 The Procter & Gamble Company Ultrasonic breast examination system
US6559644B2 (en) 2001-05-30 2003-05-06 Insightec - Txsonics Ltd. MRI-based temperature mapping with error compensation
US6735461B2 (en) 2001-06-19 2004-05-11 Insightec-Txsonics Ltd Focused ultrasound system with MRI synchronization
US6523272B1 (en) 2001-08-03 2003-02-25 George B. Morales Measuring device and method of manufacture
WO2003013654A1 (en) 2001-08-09 2003-02-20 Exogen, Inc. Method and means for controlling acoustic modes in tissue healing applications
US7429248B1 (en) 2001-08-09 2008-09-30 Exogen, Inc. Method and apparatus for controlling acoustic modes in tissue healing applications
US6788619B2 (en) 2001-09-07 2004-09-07 Shell Oil Company Concentrating seismic energy in a selected target point in an underground formation
US7264597B2 (en) 2001-10-04 2007-09-04 Institut National De La Sante Et De Lacrecherchedmedicale Device and method for producing high-pressure ultrasonic pulses
US6961606B2 (en) 2001-10-19 2005-11-01 Koninklijke Philips Electronics N.V. Multimodality medical imaging system and method with separable detector devices
US7175596B2 (en) 2001-10-29 2007-02-13 Insightec-Txsonics Ltd System and method for sensing and locating disturbances in an energy path of a focused ultrasound system
US6770039B2 (en) 2001-11-09 2004-08-03 Duke University Method to reduce tissue injury in shock wave lithotripsy
US6790180B2 (en) 2001-12-03 2004-09-14 Insightec-Txsonics Ltd. Apparatus, systems, and methods for measuring power output of an ultrasound transducer
US6522142B1 (en) 2001-12-14 2003-02-18 Insightec-Txsonics Ltd. MRI-guided temperature mapping of tissue undergoing thermal treatment
US6824516B2 (en) 2002-03-11 2004-11-30 Medsci Technologies, Inc. System for examining, mapping, diagnosing, and treating diseases of the prostate
US7128711B2 (en) 2002-03-25 2006-10-31 Insightec, Ltd. Positioning systems and methods for guided ultrasound therapy systems
US20030187371A1 (en) 2002-03-27 2003-10-02 Insightec-Txsonics Ltd. Systems and methods for enhanced focused ultrasound ablation using microbubbles
WO2003097162A2 (en) 2002-03-27 2003-11-27 Insightec-Txsonics Ltd Enhanced focused ultrasound ablation using microbubbles
US20040030251A1 (en) 2002-05-10 2004-02-12 Ebbini Emad S. Ultrasound imaging system and method using non-linear post-beamforming filter
US6951540B2 (en) 2002-05-10 2005-10-04 Regents Of The University Of Minnesota Ultrasound imaging system and method using non-linear post-beamforming filter
WO2003098232A2 (en) 2002-05-17 2003-11-27 Case Western Reserve University Chemical shift markers for improved wireless fiducial marker tracking
US7264592B2 (en) 2002-06-28 2007-09-04 Alfred E. Mann Institute For Biomedical Engineering At The University Of Southern California Scanning devices for three-dimensional ultrasound mammography
US6705994B2 (en) 2002-07-08 2004-03-16 Insightec - Image Guided Treatment Ltd Tissue inhomogeneity correction in ultrasound imaging
US6676602B1 (en) 2002-07-25 2004-01-13 Siemens Medical Solutions Usa, Inc. Two dimensional array switching for beamforming in a volume
US20040059265A1 (en) 2002-09-12 2004-03-25 The Regents Of The University Of California Dynamic acoustic focusing utilizing time reversal
US20040122316A1 (en) 2002-09-30 2004-06-24 Fuji Photo Film Co., Ltd. Ultrasonic transmitting and receiving apparatus and ultrasonic transmitting and receiving method
US7077820B1 (en) 2002-10-21 2006-07-18 Advanced Medical Optics, Inc. Enhanced microburst ultrasonic power delivery system and method
US20050203444A1 (en) 2002-10-25 2005-09-15 Compex Medical S.A. Ultrasound therapeutic device
US6629929B1 (en) 2002-11-08 2003-10-07 Koninklijke Philips Electronics N.V. Method and apparatus for automatically setting the transmit aperture and apodization of an ultrasound transducer array
US20040143187A1 (en) 2002-11-22 2004-07-22 Elena Biagi Ultrasound image focusing method and relative ultrasound system
US7267650B2 (en) 2002-12-16 2007-09-11 Cardiac Pacemakers, Inc. Ultrasound directed guiding catheter system and method
US20040122323A1 (en) 2002-12-23 2004-06-24 Insightec-Txsonics Ltd Tissue aberration corrections in ultrasound therapy
US20060052661A1 (en) 2003-01-23 2006-03-09 Ramot At Tel Aviv University Ltd. Minimally invasive control surgical system with feedback
EP1591073A1 (en) 2003-01-31 2005-11-02 Hitachi Medical Corporation Ultrasonic probe and ultrasonic device
WO2004093686A1 (en) 2003-04-17 2004-11-04 The Brigham & Women's Hospital, Inc. Shear mode diagnostic ultrasound
US20040210134A1 (en) 2003-04-17 2004-10-21 Kullervo Hynynen Shear mode therapeutic ultrasound
US7175599B2 (en) 2003-04-17 2007-02-13 Brigham And Women's Hospital, Inc. Shear mode diagnostic ultrasound
US7344509B2 (en) 2003-04-17 2008-03-18 Kullervo Hynynen Shear mode therapeutic ultrasound
US20040210135A1 (en) 2003-04-17 2004-10-21 Kullervo Hynynen Shear mode diagnostic ultrasound
US20060106300A1 (en) 2003-04-24 2006-05-18 Universiteit Utrecht Holding B.V. Selective MR imaging of magnetic susceptibility deviations
US7611462B2 (en) 2003-05-22 2009-11-03 Insightec-Image Guided Treatment Ltd. Acoustic beam forming in phased arrays including large numbers of transducer elements
US20100056962A1 (en) 2003-05-22 2010-03-04 Kobi Vortman Acoustic Beam Forming in Phased Arrays Including Large Numbers of Transducer Elements
US20040236253A1 (en) 2003-05-22 2004-11-25 Insightec-Image Guided Treatment Ltd. Acoustic beam forming in phased arrays including large numbers of transducer elements
US7377900B2 (en) 2003-06-02 2008-05-27 Insightec - Image Guided Treatment Ltd. Endo-cavity focused ultrasound transducer
US20070197918A1 (en) 2003-06-02 2007-08-23 Insightec - Image Guided Treatment Ltd. Endo-cavity focused ultrasound transducer
US20060173385A1 (en) 2003-06-04 2006-08-03 Lars Lidgren Ultrasound probe having a central opening
US20040267126A1 (en) 2003-06-25 2004-12-30 Aloka Co., Ltd. Ultrasound diagnosis apparatus
US20070055140A1 (en) 2003-07-11 2007-03-08 Kagayaki Kuroda Self-referencing/body motion tracking non-invasive internal temperature distribution measurement method and apparatus using magnetic resonance tomographic imaging technique
US7505805B2 (en) 2003-07-11 2009-03-17 Foundation For Biomedical Research And Innovation Self-referencing/body motion tracking non-invasive internal temperature distribution measurement method and apparatus using magnetic resonance tomographic imaging technique
US20050033201A1 (en) 2003-08-07 2005-02-10 Olympus Corporation Ultrasonic surgical system
US20050131301A1 (en) 2003-12-12 2005-06-16 Michael Peszynski Ultrasound probe receptacle
WO2005058029A2 (en) 2003-12-17 2005-06-30 Mentor Graphics Corporation Mask creation with hierarchy management using cover cells
US7603162B2 (en) 2004-01-28 2009-10-13 Siemens Aktiengesellschaft Imaging tomography apparatus with fluid-containing chambers forming out-of-balance compensating weights for a rotating part
US7507213B2 (en) 2004-03-16 2009-03-24 General Patent Llc Pressure pulse/shock wave therapy methods for organs
US20050251046A1 (en) 2004-03-29 2005-11-10 Yuko Yamamoto Probe array producing method
US20080228081A1 (en) 2004-04-02 2008-09-18 Koninklijke Philips Electronics, N.V. Ultrasonic Intracavity Probe For 3D Imaging
US7505808B2 (en) 2004-04-28 2009-03-17 Sunnybrook Health Sciences Centre Catheter tracking with phase information
EP1774920A1 (en) 2004-06-21 2007-04-18 Hiroshi Furuhata Ultrasonic brain infarction treating device
US7699780B2 (en) 2004-08-11 2010-04-20 Insightec—Image-Guided Treatment Ltd. Focused ultrasound system with adaptive anatomical aperture shaping
WO2006018837A2 (en) 2004-08-17 2006-02-23 Technion Research & Development Foundation Ltd. Ultrasonic image-guided tissue-damaging procedure
US20060052706A1 (en) 2004-08-20 2006-03-09 Kullervo Hynynen Phased array ultrasound for cardiac ablation
US20060058678A1 (en) * 2004-08-26 2006-03-16 Insightec - Image Guided Treatment Ltd. Focused ultrasound system for surrounding a body tissue mass
WO2006025001A1 (en) 2004-09-01 2006-03-09 Koninklijke Philips Electronics, N.V. Magnetic resonance marker based position and orientation probe
US7452357B2 (en) 2004-10-22 2008-11-18 Ethicon Endo-Surgery, Inc. System and method for planning treatment of tissue
US20060184034A1 (en) 2005-01-27 2006-08-17 Ronen Haim Ultrasonic probe with an integrated display, tracking and pointing devices
US20060184069A1 (en) 2005-02-02 2006-08-17 Vaitekunas Jeffrey J Focused ultrasound for pain reduction
US7553284B2 (en) 2005-02-02 2009-06-30 Vaitekunas Jeffrey J Focused ultrasound for pain reduction
WO2006087649A1 (en) 2005-02-17 2006-08-24 Koninklijke Philips Electronics, N.V. Method and apparatus for the visualization of the focus generated using focused ultrasound
US20070239062A1 (en) 2005-03-09 2007-10-11 Rajiv Chopra Method and apparatus for obtaining quantitative temperature measurements in prostate and other tissue undergoing thermal therapy treatment
US20060206105A1 (en) 2005-03-09 2006-09-14 Rajiv Chopra Treatment of diseased tissue using controlled ultrasonic heating
WO2006119572A1 (en) 2005-05-12 2006-11-16 Compumedics Medical Innovation Pty Ltd Ultrasound diagnosis and treatment apparatus
US20070016039A1 (en) 2005-06-21 2007-01-18 Insightec-Image Guided Treatment Ltd. Controlled, non-linear focused ultrasound treatment
US20070066897A1 (en) 2005-07-13 2007-03-22 Sekins K M Systems and methods for performing acoustic hemostasis of deep bleeding trauma in limbs
US20070073135A1 (en) 2005-09-13 2007-03-29 Warren Lee Integrated ultrasound imaging and ablation probe
US20070098232A1 (en) 2005-09-14 2007-05-03 University Of Washington Using optical scattering to measure properties of ultrasound contrast agent shells
WO2007051066A3 (en) 2005-10-26 2007-11-08 Skyline Biomedical Inc Apparatus and method for non-invasive and minimally-invasive sensing of parameters relating to blood
US20070167781A1 (en) 2005-11-23 2007-07-19 Insightec Ltd. Hierarchical Switching in Ultra-High Density Ultrasound Array
EP1790384A1 (en) 2005-11-23 2007-05-30 Siemens Medical Solutions USA, Inc. Contrast agent augmented ultrasound therapy system with ultrasound imaging guidance for thrombus treatment
US20080312562A1 (en) 2005-12-14 2008-12-18 Koninklijke Philips Electronics, N.V. Method and Apparatus for Guidance and Application of High Intensity Focused Ultrasound for Control of Bleeding Due to Severed Limbs
WO2007073551A1 (en) 2005-12-22 2007-06-28 Boston Scientific Scimed, Inc. Device and method for determining the location of a vascular opening prior to application of hifu energy to seal the opening
US20090118619A1 (en) 2006-02-23 2009-05-07 Mitsuhiro Oshiki Ultrasonic diagnostic apparatus and ultrasonic diagnostic method
US20070219470A1 (en) 2006-03-08 2007-09-20 Talish Roger J System and method for providing therapeutic treatment using a combination of ultrasound, electro-stimulation and vibrational stimulation
US20080082026A1 (en) 2006-04-26 2008-04-03 Rita Schmidt Focused ultrasound system with far field tail suppression
WO2008075203A2 (en) 2006-06-21 2008-06-26 Martinswerk Gmbh Process for the production of aluminum hydroxide
US20080027342A1 (en) 2006-07-28 2008-01-31 Mattias Rouw Prioritized Multicomplexor Sensing Circuit
US7535794B2 (en) 2006-08-01 2009-05-19 Insightec, Ltd. Transducer surface mapping
US20080033278A1 (en) 2006-08-01 2008-02-07 Insightec Ltd. System and method for tracking medical device using magnetic resonance detection
US20100030076A1 (en) 2006-08-01 2010-02-04 Kobi Vortman Systems and Methods for Simultaneously Treating Multiple Target Sites
US7652410B2 (en) 2006-08-01 2010-01-26 Insightec Ltd Ultrasound transducer with non-uniform elements
US20080031090A1 (en) 2006-08-01 2008-02-07 Insightec, Ltd Transducer surface mapping
WO2008039449A1 (en) 2006-09-27 2008-04-03 Siemens Medical Solutions Usa, Inc. Automated contrast agent augmented ultrasound therapy for thrombus treatment
US20080108900A1 (en) 2006-09-29 2008-05-08 Chih-Kung Lee Ultrasound transducer apparatus
US20080183077A1 (en) 2006-10-19 2008-07-31 Siemens Corporate Research, Inc. High intensity focused ultrasound path determination
WO2008050278A1 (en) 2006-10-23 2008-05-02 Koninklijke Philips Electronics, N.V. Symmetric and preferentially steered random arrays for ultrasound therapy
US20080125660A1 (en) 2006-11-28 2008-05-29 Shenzhen Mindray Bio-Medical Electronics Co., Ltd Method and device for transmission of wide-beam in an ultrasonic diagnostic system
EP1936404B1 (en) 2006-12-18 2008-12-10 Aloka Co., Ltd. Ultrasound diagnosis apparatus
WO2008119054A1 (en) 2007-03-27 2008-10-02 Abqmr, Inc. System and method for detecting labeled entities using microcoil magnetic mri
US7511501B2 (en) 2007-05-11 2009-03-31 General Electric Company Systems and apparatus for monitoring internal temperature of a gradient coil
US20090088623A1 (en) 2007-10-01 2009-04-02 Insightec, Ltd. Motion compensated image-guided focused ultrasound therapy system
WO2009055587A1 (en) 2007-10-23 2009-04-30 Abqmr, Inc. Microcoil magnetic resonance detectors
US20100274130A1 (en) * 2007-12-21 2010-10-28 Koninklijke Philips Electronics N.V. Systems and methods for tracking and guiding high intensity focused ultrasound beams
WO2009081339A1 (en) 2007-12-21 2009-07-02 Koninklijke Philips Electronics, N.V. Systems and methods for tracking and guiding high intensity focused ultrasound beams
WO2009094554A2 (en) 2008-01-25 2009-07-30 The Regents Of The University Of Michigan Histotripsy for thrombolysis
US20100125193A1 (en) 2008-11-19 2010-05-20 Eyal Zadicario Closed-Loop Clot Lysis
WO2010058292A2 (en) 2008-11-19 2010-05-27 Insightec Ltd. Closed-loop clot lysis
US20100179425A1 (en) 2009-01-13 2010-07-15 Eyal Zadicario Systems and methods for controlling ultrasound energy transmitted through non-uniform tissue and cooling of same
WO2010082135A1 (en) 2009-01-13 2010-07-22 Insightec Ltd. Systems and methods for controlling ultrasound energy transmitted through non-uniform tissue and cooling of same
US20100268088A1 (en) 2009-04-17 2010-10-21 Oleg Prus Multimode ultrasound focusing for medical applications
WO2010119340A1 (en) 2009-04-17 2010-10-21 Insightec Ltd. Multimode ultrasound focusing for medical applications
WO2010143072A1 (en) 2009-06-10 2010-12-16 Insightec Ltd. Acoustic-feedback power control during focused ultrasound delivery
US20100318002A1 (en) 2009-06-10 2010-12-16 Oleg Prus Acoustic-Feedback Power Control During Focused Ultrasound Delivery
WO2011013001A1 (en) 2009-07-27 2011-02-03 Insightec Ltd. Systems and methods for simultaneously treating multiple target sites
WO2011024074A2 (en) 2009-08-26 2011-03-03 Insightec Ltd. Asymmetric phased-array ultrasound transducer
US20110066032A1 (en) 2009-08-26 2011-03-17 Shuki Vitek Asymmetric ultrasound phased-array transducer
US20110094288A1 (en) 2009-10-14 2011-04-28 Yoav Medan Mapping ultrasound transducers

Non-Patent Citations (57)

* Cited by examiner, † Cited by third party
Title
"Abstract" Focus Surgery, http://www.focus-surgery.com/Sanghvi.htm, accessed Jan. 3, 2003.
"How does HIFU create a lesion?" http://www.edap-hifu.com/eng/physicians/hifu/2d-hifu-lesion.htm, accessed Jan. 3, 2003.
"How is Ablatherm treatment performed?" http://www.edap-hifu.com/eng/physicians/hifu/3c-treatment-treat-description.htm, accessed Jan. 3, 2003.
"Prostate Cancer Phase I Clinical Trials Using High Intensity Focused Ultrasound (HIFU)," Focus Surgery, http://www.focus-surgery.com/PCT%20Treatment%20with%20HIFU.htm, accessed Jan. 3, 2003.
"What are the physical principles?" http://www.edap-hifu.com/eng/physicians/hifu/2c-hifu-physical.htm, accessed Jan. 3, 2003.
"What is HIFU? HIFU: High Intensity Focused Ultrasound," http://www.edap-hifu.com/eng/physicians/hifu2a-hifu-overview.htm, accessed Jan. 3, 2003.
Botros et al., "A hybrid computational model for ultrasound phased-array heating in presence of strongly scattering obstacles," IEEE Trans. on Biomed. Eng., vol. 44, No. 11, pp. 1039-1050 (Nov. 1997).
Cain et al., "Concentric-ring and Sector-vortex Phased-array Applicators for Ultrasound Hperthermia," IEEE Trans. on Microwave Theory & Techniques, vol. MTT-34, No. 5, pp. 542-551 (May 1986).
Chen et al., "MR Acoustic Radiation Force Imaging: Comparison of Encoding Gradients."
Cline et al., "Focused US system for MR imaging-guide tumor ablation," Radiology, v. 194, No. 3, pp. 731-738 (Mar. 1995).
Cline et al., "MR Temperature mapping of focused ultrasound surgery," Magnetic Resonance in Medicine, vol. 32, No. 6, pp. 628-636 (1994).
Cline et al., "Simultaneous magnetic resonance phase and magnitude temperature maps in muscle," Magnetic Resonance in Medicine, vol. 35, No. 3, pp. 309-315 (Mar. 1996).
Daum et al., "Design and evaluation of a feedback based phased array system for ultrasound surgery," IEEE Trans. Ultrason. Ferroelec. Freq. Control, vol. 45, No. 2, pp. 431-434 (1998).
De Senneville et al., "An Optimised Multi-Baseline Approach for On-Line MR-Temperature Monitoring on Commodity Graphics Hardware," Biomedical Imaging, pp. 1513-1516 (2008).
de Senneville et al., "Real-time adaptive methods for treatment of mobile organs by MRI-controlled high-intensity focussed Ultrasound," Magnetic Resonance in Medicine 57:319-330 (2007).
Exablate 2000 Specification, InSightec, Ltd. (2 pages).
FDA Approves Exablate 2000 as Non-invasive surgery for Fibroids, Oct. 22, 2004.
First Office Action for 200680029730.8 PRC (7 pages).
Fjield et al, "The Combined Concentric-ring and Sector-vortex Phased Array for MRI Guided Ultrasound Surgery," IEEE Trans. on Ultrasonics, Ferroelectrics and Freq. Cont., vol. 44, No. 5, pp. 1157-1167 (Sep. 1997).
Fronheiser et al., "3D Acoustic Radiation Force Impulse (ARFI) Imaging Using a 2D Matrix Array: Feasibility Study," Ultrasonics Symposium, pp. 1144-1147 (Oct. 2006).
Heikkila et al., "Simulations of Lesion Detection Using a Combined Phased Array LHMI-Technique," Ultrasonics, IPC Science and Technology Press Ltd., vol. 48, No. 6-7, pp. 568-573 (Nov. 2008).
Herbert et al., "Energy-based adaptive focusing of waves: application to ultrasonic transcranial therapy," 8th Intl. Symp. on Therapeutic Ultrasound.
Huber et al., "A New Noninvasive Approach in Breast Cancer Therapy Using Magnetic Resonance Imaging-Guided Focussed Ultrasound Surgery," Cancer Research 61, 8441-8447 (Dec. 2001).
International Preliminary Report on Patentability in International Patent Application No. PCT/IB2004/001512, mailed Dec. 8, 2005.
International Search Report and Written Opinion in Internation Patent Application No. PCT/IB2010/000971, mailed Jul. 29, 2010 (9 pages).
International Search Report and Written Opinion in International Patent Application No. PCT/IB2004/001498, dated Aug. 31, 2004.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2005/002273, mailed Dec. 20, 2005.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2005/002413, mailed Nov. 22, 2005.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2006/001641, mailed Sep. 25, 2006.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2006/003300, mailed Feb. 14, 2008.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2007/001079, mailed Dec. 10, 2007.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2007/002134, mailed Dec. 13, 2007.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2007/002140, mailed Dec. 29, 2008.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2008/003069, mailed Apr. 27, 2009.
International Search Report and Written Opinion in International Patent Application No. PCT/IB2010/000189, mailed Jun. 1, 2010.
International Search Report and Written Opinion mailed Nov. 10, 2011 for International Application No. PCT/IB2011/001375 (13 pages).
International Search Report for PCT/IB03/05551 completion date Mar. 2, 2004 (5 pages).
Jolesz et al., "Integration of interventional MRI with computer-assisted surgery," J. Magnetic Resonance Imaging. 12:69-77 (2001).
Kohler et al., "Volumetric HIFU Ablation guided by multiplane MRI thermometry," 8th Intl. Symp. on Therapeutic Ultrasound, edited by E.S. Ebbini, U. of Minn. (Sep. 2009).
Kowalski et al., "Optimization of electromagnetic phased-arrays for hyperthermia via magnetic resonance temperature estimation," IEEE Trans. on Biomed. Eng., vol. 49, No. 11, pp. 1229-1241 (Nov. 2002).
Maxwell et al., "Noninvasive thrombolysis using pulsed ultrasound cavitation therapy-Histotripsy," Abstract, U.S. Natl. Lib. of Med., NIH, Ultrasound Med. Biol. (Oct. 23, 2009).
McDannold et al., "Magnetic resonance acoustic radiation force imaging," Med. Phys. vol. 35, No. 8, pp. 3748-3758 (Aug. 2008).
McDannold et al., "MRI evaluation of thermal ablation of tumors and focused ultrasounds," JMRI vol. 8, No. 1, pp. 91-100 (1998).
McDonnald et al. "Usefulness of MR Imaging-Derived Thermometry and Dosimetry in Determining the Threshold for Tissue Damage INduced by Thermal Surgery in Rabbits," Radiology, vol. 216, No. 2000 pp. 517-523 (2000).
McGough et al., "Direct Computation of Ultrasound Phased-Array Driving Signals from a Specified Temperature Distribution for Hyperthermia," IEEE Transactions on Biomedical Engineering, vol. 39, No. 8, pp. 825-835 (Aug. 1992).
Medel et al., "Sonothrombolysis: An emerging modality for the management of stroke," Neurosurgery, vol. 65, No. 5, pp. 979-993.
Mougenot et al., "MR monitoring of the near-field HIFU heating," 8th Intl. Symp. on Therapeutic Ultrasound, edited by E.S. Ebbini, U. of Minn. (Sep. 2009).
Partial International Search Report and Written Opinion in International Patent Application No. PCT/IB2007/001079, dated Sep. 25, 2007.
Shmatukha et al. "Correction of Proton Resonance Frequencey Shift Temperature Maps for Magnetic Field Disturbances Caused by Breathing," Physics in Medicine and Biology, vol. 51, No. 18 pp. 4689-4705 (2006).
Suprijanto et al. "Displacement Correction Scheme for MR-Guided Interstitial Laser Therapy," Ellis RE, Peters TM (Eds.): MiCCAI , LNCS 2879, pp. 399-407 (2003).
Vigen et al., "Triggered, Navigated, Multi-Baseline Method for Proton Resonance Frequency Temperature Mapping with Respiratory Motion," Magnetic Resonance in Medicine, vol. 50, pp. 1003-1010 (2003).
Vimeux et al., "Real-time control of focused ultrasound heating based on rapid MR thermometry," Investig. Radiology, vol. 43, No. 3, pp. 190-193.
Vykhodtseva et al., "MRI detection of the thermal effects of focused ultrasound on the brain," Ultrasound in Med. & Biol., vol. 26, No. 5, pp. 871-880 (2000).
Written Opinion in International Patent Application No. PCT/IB03/05551, mailed Sep. 10, 2004.
Written Opinion in International Patent Application No. PCT/IL01/00340, mailed Feb. 24, 2003.
Written Opinion in International Patent Application No. PCT/IL02/00477, mailed Feb. 25, 2003.
Wu et al., "MRImaging of Shear Waves Generated by Focused Ultrasound," Magnetic Resonance in Medicine, vol. 43, pp. 111-115 (2000).

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9177543B2 (en) 2009-08-26 2015-11-03 Insightec Ltd. Asymmetric ultrasound phased-array transducer for dynamic beam steering to ablate tissues in MRI
US9412357B2 (en) 2009-10-14 2016-08-09 Insightec Ltd. Mapping ultrasound transducers
US20130123630A1 (en) * 2011-11-16 2013-05-16 Siemens Medical Solutions Usa, Inc. Adaptive Image Optimization in Induced Wave Ultrasound Imaging
US9239373B2 (en) * 2011-11-16 2016-01-19 Siemens Medical Solutions Usa, Inc. Adaptive image optimization in induced wave ultrasound imaging
US11752365B2 (en) * 2016-02-09 2023-09-12 Irmengard Theuer Device for treating malignant diseases with the help of tumor-destructive mechanical pulses (TMI)
WO2019116107A1 (en) 2017-12-11 2019-06-20 Insightec, Ltd. Adaptive, closed- loop ultrasound therapy
US11806496B2 (en) 2017-12-11 2023-11-07 Insightec Ltd. Adaptive, closed-loop ultrasound therapy
WO2020058757A1 (en) 2018-09-17 2020-03-26 Insightec, Ltd. Ultrasound focusing utilizing a 3d-printed skull replica
WO2020136434A1 (en) 2018-12-27 2020-07-02 Insightec, Ltd Optimization of transducer configurations in ultrasound procedures
WO2023079358A2 (en) 2021-11-05 2023-05-11 Insightec, Ltd. Variable-bandwidth transducers with asymmetric features

Also Published As

Publication number Publication date
WO2011135458A3 (en) 2012-01-05
EP2563476A2 (en) 2013-03-06
WO2011135458A2 (en) 2011-11-03
CN102946945B (en) 2016-03-30
US20110270136A1 (en) 2011-11-03
CN102946945A (en) 2013-02-27
EP2563476B1 (en) 2016-04-06

Similar Documents

Publication Publication Date Title
US8932237B2 (en) Efficient ultrasound focusing
US9412357B2 (en) Mapping ultrasound transducers
US9852727B2 (en) Multi-segment ultrasound transducers
US11872412B2 (en) Frequency optimization in ultrasound treatment
US9623266B2 (en) Estimation of alignment parameters in magnetic-resonance-guided ultrasound focusing
CN113329788B (en) Optimization of transducer configuration in ultrasound surgery
US20210204915A1 (en) Focused ultrasound system with optimized monitoring of cavitation
CN112533673A (en) Improved reflective autofocus
WO2019135160A2 (en) Multi-frequency ultrasound transducers
US11272842B2 (en) Systems and methods for ensuring coherence between multiple ultrasound transducer arrays
JP2023505381A (en) Systems and methods for reducing interference between MRI machines and ultrasound systems
US20230398381A1 (en) Multiparametric optimization for ultrasound procedures
US11918420B2 (en) Reflection autofocusing

Legal Events

Date Code Title Description
AS Assignment

Owner name: INSIGHTEC, LTD., ISRAEL

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:VITEK, SHUKI;HERTZBERG, YONI;SIGNING DATES FROM 20100526 TO 20100530;REEL/FRAME:024609/0358

FEPP Fee payment procedure

Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Free format text: PAYER NUMBER DE-ASSIGNED (ORIGINAL EVENT CODE: RMPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551)

Year of fee payment: 4

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1552); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 8

AS Assignment

Owner name: PERCEPTIVE CREDIT HOLDINGS III, LP, NEW YORK

Free format text: SECURITY INTEREST;ASSIGNORS:INSIGHTEC, INC.;INSIGHTEC LTD.;REEL/FRAME:061365/0820

Effective date: 20220831